Gantry hoisting equipment and control method

Abstract

The present invention discloses a gantry lifting equipment and a control method, which belong to the technical field of lifting devices, the gantry lifting equipment includes a gantry, a lifting mechanism and a moving mechanism, the gantry includes a crossbeam and two supporting legs extending up and down, the two ends of the crossbeam are arranged in the left and right directions, the upper ends of the two supporting legs are respectively connected to the left and right ends of the crossbeam; the lifting mechanism includes a lifting block and two lifting components arranged on the left and right sides, the lifting components include a first rotating motor, a rotating drum and a lifting rope, the first rotating motor is connected to the rotating drum to drive the rotating drum to rotate forward or reverse, the two ends of the lifting rope are respectively connected to the rotating drum and the lifting block, the first rotating motor is configured to reel in or unreel according to the deflection of the lifting block to adjust the length difference between the two lifting ropes; the moving mechanism is connected to the crossbeam and to the lifting mechanism to drive the lifting mechanism to move back and forth in a straight line along the crossbeam, which is beneficial to improving the stability of the goods during lifting and movement, and is beneficial to improving the moving efficiency of the goods.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting equipment, and in particular to gantry lifting equipment and a control method thereof. Background Art

[0002] A gantry crane, also known as a portal crane, is a variation of a bridge crane and is primarily used for outdoor cargo loading and unloading. Its metal structure resembles a door-shaped frame, with two legs mounted beneath the main beam. These legs can either contact the ground or travel on rails. It boasts high site utilization, a large operating range, wide adaptability, and strong versatility.

[0003] In the related art, after the gantry crane suspends the cargo, when the cargo is moved, the suspended cargo is prone to cause the suspension rope to swing greatly due to its unstable center of gravity, which affects the efficiency of moving the cargo and may even cause the gantry crane to fall over in severe cases. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a gantry lifting device that is conducive to improving the stability of cargo during lifting and movement, and is conducive to improving the efficiency of cargo movement.

[0005] The present invention also provides a control method.

[0006] The gantry lifting equipment of the embodiment of the first aspect of the present invention includes: a gantry, including a crossbeam and two supporting legs extending up and down, the two ends of the crossbeam are arranged in the left and right directions, and the upper ends of the two supporting legs are respectively connected to the left and right ends of the crossbeam; a lifting mechanism, including a lifting block and two lifting components arranged on the left and right, the lifting components including a first rotating motor, a rotating drum and a lifting rope, the first rotating motor is connected to the rotating drum to drive the rotating drum to rotate forward or reverse, the two ends of the lifting rope are respectively connected to the rotating drum and the lifting block, and the first rotating motor is configured to reel or unreel according to the deflection of the lifting block to adjust the length difference between the two lifting ropes; a moving mechanism, connected to the crossbeam, connected to the lifting mechanism, to drive the lifting mechanism to move back and forth in a straight line along the crossbeam.

[0007] According to an embodiment of the present invention, the gantry lifting device has at least the following beneficial effects: the lifting mechanism of the gantry lifting device includes a lifting block and two lifting components arranged on the left and right, the lifting components including a first rotating motor, a rotating drum and a lifting rope, the ends of the lifting rope being respectively connected to the rotating drum and the lifting block, the lifting block being used to be connected to the cargo, and the first rotating motor being connected to the rotating drum to drive the rotating drum to rotate forward or reverse to achieve winding or unwinding of the lifting rope to achieve hanging of the cargo, and in conjunction with the driving of the lifting mechanism by the moving mechanism, the cargo can be moved in the left and right directions, and the cargo is easily deflected relative to the lifting components during movement, that is, the cargo shakes, and the first rotating motor is configured to wind up or unwind according to the deflection of the lifting block to adjust the length difference between the two lifting ropes. The lifting component away from the lifting block can increase the traction force applied to the lifting block by winding up the lifting rope, that is, generate a compensation force to offset the deflection of the lifting block due to inertia, thereby suppressing the shaking of the lifting block, making the movement of the cargo more stable, which is conducive to improving the stability of the cargo during lifting and movement, and is conducive to improving the efficiency of cargo movement.

[0008] According to some embodiments of the present invention, the lifting mechanism also includes two gathering components, which are respectively located below the two lifting components. The gathering components include a sheave and a shell. A gathering cavity running through the shell is provided in the sheave, and the sheave is provided in the gathering cavity. The lifting rope passes through the gathering cavity. An embedding groove is provided on the outer periphery of the sheave, and the lifting rope is engaged with the embedding groove. The sheave is configured to be able to slide left and right along the shell.

[0009] According to some embodiments of the present invention, the gathering member includes two groove wheels, and the gathering member also includes a connecting block and two first linear drives. The inner wall surface of the shell is provided with a first slide groove inclined from top to bottom in a direction away from the connecting block, and a second slide groove inclined from bottom to top in a direction away from the connecting block. The first slide groove is located above the second slide groove. The two groove wheels are slidingly connected to the first slide groove and the second slide groove respectively. The two first linear drives are respectively connected to the two groove wheels. The two ends of the first linear drive are respectively connected to the end of the groove wheel facing away from the sling rope and the connecting block.

[0010] According to some embodiments of the present invention, a ferromagnetic body is provided at the left and right ends of the hanger block, respectively, and an electromagnet is provided on each of the two legs. The electromagnet is capable of opposing the ferromagnetic body, and the electromagnet is configured to operate according to the deflection of the hanger block to generate an adsorption force that suppresses the deflection of the hanger block.

[0011] And / or, the left and right ends of the hanging block are respectively provided with ferromagnets, and the legs are arranged with multiple electromagnets along their length direction, the electromagnets can be opposite to the ferromagnets, and the electromagnets are configured to operate according to the deflection of the hanging block to generate an adsorption force to suppress the deflection of the hanging block.

[0012] According to some embodiments of the present invention, the side walls of the crossbeam are connected to guide rails extending left and right, the lifting mechanism further includes a sliding seat, the lifting member and the gathering member are both connected to the sliding seat, the sliding seat is slidingly connected to the guide rail, the moving mechanism includes a second rotary motor and a first screw rod, the first screw rod is rotationally connected to the crossbeam, the sliding seat is provided with a first screw hole, the first screw hole is threadedly connected to the first screw rod, and the second rotary motor is transmission-connected to the first screw rod to drive the first screw rod to rotate forward or reverse;

[0013] And / or, the thickness of the cross beam gradually increases from top to bottom in a direction away from the lifting mechanism, and the lower end of the cross beam can abut against the gathering member.

[0014] According to some embodiments of the present invention, a downwardly opening slot is provided at the upper end of the sliding seat, and the upper end of the crossbeam is embedded in the slot and slidably connected to the slot;

[0015] And / or, further comprising an inertia measurement device connected to the lifting block for obtaining a deflection angle of the lifting block, wherein the lifting member is configured to reel in or unreel the lifting rope according to the deflection angle;

[0016] And / or, it also includes a displacement detection component, which is used to detect the lateral displacement of the lifting mechanism and the lifting block, and the lifting component is configured to reel or unreel the lifting rope according to the lateral movement deviation of the lifting block relative to the lifting mechanism.

[0017] The control method of the second embodiment of the present invention is applied to the gantry hoisting equipment as described in any one of the first aspects; the control method includes:

[0018] Hang the cargo on the lifting block and control the operation of the lifting mechanism to lift the cargo;

[0019] Controlling the moving mechanism to drive the hoisting mechanism to move in a first direction, the first direction being leftward or rightward along the beam;

[0020] When the lifting block deflects in the opposite direction of the first direction, the lifting member of the two lifting members, which is away from the lifting block, is controlled to reel in the lifting rope;

[0021] When the lifting block deflects toward the first direction, the lifting member away from the lifting block among the two lifting members is controlled to reel in the lifting rope.

[0022] According to the control method of the embodiment of the present invention, there are at least the following beneficial effects: the user hangs the goods on the hanging block, and the control method can control the operation of the lifting mechanism to lift the goods, and cooperate with the moving mechanism to drive the lifting mechanism to realize the movement of the goods. The goods are prone to deflect relative to the lifting component during the movement, that is, the goods shake. The first rotating motor is configured to reel in or unreel according to the deflection of the hanging block to adjust the length difference between the two lifting ropes. When the hanging block deflects in the first direction or the hanging block deflects in the opposite direction of the first direction, the lifting component away from the hanging block is controlled to increase the traction force applied to the hanging block by reeling in the rope, that is, a compensation force is generated to offset the deflection of the hanging block due to inertia, thereby suppressing the shaking of the hanging block, so that the movement of the goods is more stable, which is beneficial to improving the stability of the goods during lifting and movement, and is beneficial to improving the efficiency of goods movement.

[0023] According to some embodiments of the present invention, the control method further includes:

[0024] The winding speed of the hoisting member is controlled according to the moving speed of the hoisting mechanism along the first direction, so that the winding speed of the hoisting member away from the hoisting block satisfies the following formula:

[0025] ;

[0026] in, is the reeling speed of the hoisting component away from the hoisting block, is the moving speed of the hoisting mechanism along the first direction, is the deflection angle of the hanging block, To compensate for speed.

[0027] According to some embodiments of the present invention, the control method further includes:

[0028] Obtaining a first distance of lateral movement of the lifting mechanism and a second distance of lateral movement of the lifting block, and obtaining a lateral movement deviation of the lifting block according to a difference between the first distance and the second distance;

[0029] The compensation speed is dynamically calculated based on the lateral movement deviation of the hanging block so that the compensation speed satisfies the following formula:

[0030] ;

[0031] in, is the lateral movement deviation, is the proportional gain coefficient, , is the maximum reeling speed of the hoisting component, is the maximum permissible swing amplitude, is the integral gain coefficient, , t is time, is the differential gain coefficient, , is the oscillation period.

[0032] According to some embodiments of the present invention, the control method further includes:

[0033] When the moving mechanism drives the hoisting mechanism to start decelerating and the deflection angle of the hoisting block stops increasing and is less than the preset angle, the hoisting component away from the hoisting block is controlled to start unwinding to eliminate the length difference between the two hoisting ropes, so that the length difference between the two hoisting ropes satisfies the following formula:

[0034] ;

[0035] in, is the target length difference between the two ropes, is the initial length difference between the two ropes, is the attenuation coefficient, and satisfies , S is the remaining braking distance, k is the safety factor, and its value is 1.2~1.5.

[0036] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0038] Figure 1 This is a schematic structural diagram of a gantry hoisting device according to an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the three-dimensional structure of a gantry hoisting device (hoisting components and convergence components omitted) according to an embodiment of the present invention;

[0040] Figure 3 This is a schematic structural diagram of a convergence component (part of the housing is omitted) of a gantry hoisting device according to an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of the layout structure of the ferromagnetic body and the electromagnet of the gantry hoisting equipment according to one embodiment of the present invention;

[0042] Figure 5 This is a schematic structural diagram of a moving mechanism and a crossbeam of a gantry hoisting device according to an embodiment of the present invention;

[0043] Figure 6 The figure is a flow chart of a control method according to an embodiment of the present invention.

[0044] Figure Number:

[0045] 100, gantry; 110, crossbeam; 111, reinforcement rib; 112, guide rail; 120, support leg; 121, electromagnet;

[0046] 210, lifting member; 211, first rotating motor; 212, rotating cylinder; 213, lifting rope; 220, lifting block; 221, ferromagnetic body; 230, sliding seat; 231, clamping groove; 240, converging member; 241, housing; 2411, converging cavity; 2412, first chute; 2413, second chute; 242, connecting block; 243, first linear actuator; 244, sheave; 2441, embedded groove;

[0047] 300 , moving mechanism; 310 , second rotating motor; 320 , first screw rod. DETAILED DESCRIPTION

[0048] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0049] In the description of the present invention, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0050] In the description of the present invention, "a plurality" refers to more than two. The use of "first" or "second" is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of the indicated technical features, or implicitly indicating the order of the indicated technical features.

[0051] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0052] Reference Figures 1 to 5 As shown, a gantry hoisting device according to an embodiment of the present invention includes: a gantry 100, a hoisting mechanism and a moving mechanism 300.

[0053] Reference Figure 1 、 Figure 2 and Figure 5As shown, the gantry 100 includes a crossbeam 110 and two support legs 120 extending vertically. The two ends of the crossbeam 110 are arranged in the left-right direction. The upper ends of the two support legs 120 are connected to the left and right ends of the crossbeam 110 respectively. The moving mechanism 300 is connected to the crossbeam 110 and is connected to the lifting mechanism to drive the lifting mechanism to move back and forth in a straight line along the length direction of the crossbeam 110. When the cargo is connected to the lifting mechanism, the moving mechanism 300 can drive the lifting mechanism to slide in the left-right direction to achieve the movement of the cargo in the left-right direction. The lower ends of the two support legs 120 can contact the ground or slide on the track. When the lower ends of the support legs 120 slide in the front-back direction on the track, the cargo can be moved in the front-back direction.

[0054] Reference Figure 1 、 Figure 2 and Figure 5 As shown, specifically, the lifting mechanism includes a lifting block 220 and two lifting components 210 arranged on the left and right. The lifting components 210 include a first rotating motor 211, a rotating drum 212, and a lifting rope 213. The upper and lower ends of the lifting rope 213 are connected to the rotating drum 212 and the lifting block 220 respectively. The lifting block 220 is used to connect to the cargo, and the first rotating motor 211 is connected to the rotating drum 212 to drive the rotating drum 212 to rotate forward or reverse, so that the rotating drum 212 can reel in or unreel the lifting rope 213. When the cargo is hung on the lifting block 220, the two lifting components 210 operate synchronously and reel in the lifting rope 213 to lift the cargo. In conjunction with the movement of the moving mechanism 300 or the support leg 120, the cargo can be moved. The lifting rope 213 can be a steel cable.

[0055] Reference Figure 1 、 Figure 2 and Figure 5 As shown, the cargo is prone to deflection relative to the lifting component 210 during movement, and the cargo will cause the lifting block 220 and the lifting rope 213 to deflect. The first rotating motor 211 is configured to reel in or unreel according to the deflection of the lifting block 220 to adjust the length difference between the two lifting ropes 213. The lifting component 210 away from the lifting block 220 can increase the traction force applied to the lifting block 220 by reeling in the lifting rope 213, that is, generate a compensation force to offset the deflection of the lifting block 220 due to inertia, thereby suppressing the shaking of the lifting block 220, which is beneficial to improving the stability of the cargo during lifting and movement, so that the movement of the cargo is more stable, which is beneficial to improving the efficiency of cargo movement.

[0056] Reference Figure 1 、 Figure 2 and Figure 5As shown, for example, after the cargo is hung on the lifting mechanism, the moving mechanism 300 drives the lifting mechanism to move to the right. The lifting block 220 and the cargo tend to maintain their original positions due to inertia. Therefore, the lifting block 220 and the cargo are tilted to the left relative to the moving lifting mechanism, that is, the lifting block 220 swings. The deflection of the lifting block 220 causes the angle of the lifting rope 213 to change, thereby generating a lateral traction force. At this time, the lifting component 210 away from the lifting block 220 of the two lifting components 210 can reel in the lifting rope 213, that is, the lifting rope 213 on the right side is relatively shortened, and the lifting rope 213 on the left side is relatively lengthened, so that the traction force applied by the lifting component 210 on the right side to the lifting block 220 is enhanced, thereby offsetting the deflection of the lifting block 220 to the left, which is beneficial to reducing the shaking amplitude of the lifting block 220 and the cargo, and improving the stability of the cargo during lifting and movement.

[0057] It should be noted that the hanging block 220 can be connected to the cargo by means of a hook, a rope, etc., and cooperate with the winding of the hanging component 210 to realize the hanging of the cargo.

[0058] Reference Figure 1 、 Figure 2 and Figure 3 As shown, it can be understood that the lifting mechanism also includes two sliding seats 230 and two bundling members 240. The moving mechanism 300 can drive the two sliding seats 230 to move synchronously. The two bundling members 240 are respectively located below the two lifting members 210. Each sliding seat 230 is connected to a lifting member 210 and a bundling member 240.

[0059] Reference Figure 1 、 Figure 2 and Figure 3 As shown, the gathering component 240 includes a groove wheel 244 and a shell 241. A gathering cavity 2411 is provided in the shell 241, which passes through the gathering cavity 2411 from top to bottom. The groove wheel 244 is provided in the gathering cavity 2411, and the sling 213 passes through the gathering cavity 2411. The thickness direction of the gathering cavity 2411 is the front-to-back direction, the width direction is the left-to-right direction, and the length direction is the up-to-down direction. The front and rear walls inside the gathering cavity 2411 restrict the sling 213, so that the movement of the upper part of the sling 213 in the front-to-back direction can be reduced, that is, the swing amplitude of the upper part of the sling 213 in the front-to-back direction can be reduced.

[0060] Reference Figure 1 、 Figure 2 and Figure 3As shown, the outer peripheral surface of the groove wheel 244 is provided with an embedding groove 2441, and the suspension rope 213 is embedded in the embedding groove 2441. The swing of the suspension rope 213 can be limited by the abutment between the suspension rope 213 and the inner wall surface of the embedding groove 2441, and the traction angle of the suspension rope 213 is guided and limited. The bottom wall of the embedding groove 2441 and the left wall or right wall surface inside the convergence cavity 2411 restrict the suspension rope 213, so that the movement of the upper part of the suspension rope 213 in the left and right directions can be reduced, that is, the swing amplitude of the upper part of the suspension rope 213 in the left and right directions can be reduced.

[0061] Reference Figure 1 、 Figure 2 and Figure 3 As shown, the sheave 244 is configured to be able to slide left and right along the shell 241 to change the traction direction of the lifting rope 213, and through the left and right sliding of the sheave 244 and the shell 241, the distance between the upper parts of the two lifting ropes 213 can be increased or decreased to meet the lifting and moving requirements of heavy or light goods.

[0062] Reference Figure 1 、 Figure 2 and Figure 3 As shown, it can be understood that the gathering member 240 includes two groove wheels 244, and the gathering member 240 also includes a connecting block 242 and two first linear drives 243. The inner wall surface of the shell 241 is provided with a first slide groove 2412 inclined from top to bottom in the direction away from the connecting block 242, and a second slide groove 2413 inclined from bottom to top in the direction away from the connecting block 242. The first slide groove 2412 is located above the second slide groove 2413.

[0063] Taking the left-side converging member 240 as an example, the connecting block 242 is connected to the left end of the housing 241. The upper inner wall of the housing 241 is provided with a first sliding groove 2412 that tilts downward and rightward from top to bottom. The lower inner wall of the housing 241 is provided with a second sliding groove 2413 that tilts upward and rightward from bottom to bottom. The connecting block 242 is located between the first sliding groove 2412 and the second sliding groove 2413. The two converging members 240 are arranged symmetrically.

[0064] Reference Figure 1 、 Figure 2 and Figure 3 As shown, two first linear actuators 243 are respectively connected to two sheaves 244. The ends of the first linear actuators 243 are rotatably connected to the ends of the sheaves 244 facing away from the sling 213 and the connecting block 242. Driven by the first linear actuators 243, the two sheaves 244 can be driven to move along the first and second guide grooves 2412 and 2413, respectively, to adjust the relative position of the two sheaves 244 and the length of the sling 213 between the two sheaves 244.

[0065] Reference Figure 1、 Figure 2 and Figure 3 As shown, taking the shell 241 located on the left side as an example, the two groove wheels 244 are slidingly connected to the first slide groove 2412 and the second slide groove 2413 respectively. The first slide groove 2412 and the second slide groove 2413 can limit the sliding direction of the groove wheel 244. By driving the first linear drive 243, the two groove wheels 244 can slide along the first slide groove 2412 and the second slide groove 2413 respectively.

[0066] Reference Figure 1 、 Figure 2 and Figure 3 As shown, the gantry lifting equipment can change the trajectory of the lifting rope 213 wound between the two groove wheels 244 by adjusting the telescopic stroke of the two first linear drivers 243 in a contracting component 240 to change the traction direction of the lifting rope 213, thereby increasing or decreasing the lateral traction force applied to the lifting block 220.

[0067] When lifting heavy cargo and moving, the gantry lifting equipment can control the first linear drive 243 of the two contracting components 240 to contract, that is, shorten the extension stroke of the first linear drive 243, thereby increasing the distance between the upper ends of the two lifting ropes 213 to enhance the lateral traction force on the cargo, so as to improve the stability of the cargo lifting movement, and increase the length of the lifting rope 213 between the two sheaves 244 to improve the stability of the upper part of the lifting rope 213.

[0068] When lifting light cargo or moving or lifting cargo upwards, the gantry lifting equipment can control the extension of the first linear drive 243 of the two contracting components 240, that is, increase the extension stroke of the first linear drive 243, thereby reducing the distance between the upper ends of the two lifting ropes 213 to reduce the lateral traction force on the cargo, and the length of the lifting rope 213 between the two sheaves 244 is also reduced. By reducing the distance between the bottom wall of the embedded groove 2441 and the left or right wall of the contracting cavity 2411, the restriction on the lifting rope 213 in the left and right directions is enhanced to improve the stability of the upper part of the lifting rope 213.

[0069] Reference Figure 1 、 Figure 2 and Figure 3 As shown, it should be noted that the first linear driver 243 can be a linear driving mechanism such as a pneumatic push rod, an electric push rod, a hydraulic push rod, a screw slider mechanism, etc.

[0070] Reference Figure 1 、 Figure 2 and Figure 4As shown, it can be understood that, considering that the binding member 240 mainly plays a binding role on the upper part of the lifting rope 213, and the shaking of the lifting block 220 and the cargo is mainly located at the lower part of the lifting rope 213, the gantry lifting equipment is additionally provided with a ferromagnet 221 and an electromagnet 121, which can suppress the shaking displacement of the cargo and the lifting block 220 through the control of the magnetic field.

[0071] Reference Figure 1 、 Figure 2 and Figure 4 As shown, specifically, ferromagnets 221 are provided at the left and right ends of the hanger block 220, and more specifically, ferromagnets 221 are provided at the four corners of the hanger block 220. Accordingly, the support leg 120 includes a first sub-plate extending forward and backward, and two second sub-plates extending upward and downward. The upper ends of the two second sub-plates are respectively connected to the front and rear ends of the first sub-plate, and the first sub-plate is connected to the end of the crossbeam 110. The two support legs 120 have a total of four second sub-plates, each of which is connected to an electromagnet 121. The electromagnets 121 on the four second sub-plates are respectively provided corresponding to the ferromagnets 221 at the four corners of the hanger block 220.

[0072] Reference Figure 1 、 Figure 2 and Figure 4 As shown, when the lifting block 220 and the cargo deviate to the left compared to the lifting mechanism, the gantry lifting equipment can control the operation of the electromagnets 121 on the two second sub-plates of the right support leg 120. Through the operation of the electromagnets 121 on the right support leg 120, an adsorption force can be generated on the ferromagnet 221 on the right side of the lifting block 220, thereby generating a compensation force to offset the inertial deflection of the lifting block 220, thereby suppressing the shaking of the lifting block 220, so as to make the movement of the cargo more stable, which is conducive to improving the stability of the cargo during lifting and movement, and is conducive to improving the efficiency of cargo movement. The situation where the lifting block 220 and the cargo deviate to the right compared to the lifting mechanism is the opposite of the situation where they deviate to the left, and will not be described in detail here.

[0073] Reference Figure 1 、 Figure 2 and Figure 4 As shown, the gantry lifting equipment configures the electromagnet 121 to adjust its operating state according to the deflection direction and degree of deflection of the lifting block 220 and the cargo, including whether the electromagnet 121 is operating and the operating power, thereby generating an adaptive compensation force to offset the deflection of the lifting block 220 due to inertia, so as to reduce the shaking of the lifting block 220 and the cargo, and improve the stability of the cargo during lifting and movement.

[0074] It should be understood that in some other embodiments, the support leg 120 is arranged with multiple electromagnets 121 along its length direction. The electromagnets 121 located at different heights can generate upward or downward traction on the ferromagnet 221 of the hanging block 220, thereby better suppressing the swing of the hanging block 220 and the cargo, and reducing the shaking amplitude of the hanging block 220 and the cargo.

[0075] Reference Figure 1 、 Figure 2 and Figure 5 As shown, it can be understood that in this embodiment, the side walls of the beam 110 are connected to the guide rails 112 extending left and right, and the moving mechanism 300 includes a second rotating motor 310 and a first screw rod 320, the first screw rod 320 is rotatably connected to the beam 110, and a first screw hole is provided on the sliding seat 230, and the first screw hole is threadedly connected to the first screw rod 320, that is, the two sliding seats 230 are both threadedly connected to the first screw rod 320, and the second rotating motor 310 is transmission-connected to the first screw rod 320 to drive the first screw rod 320 to rotate forward or reverse.

[0076] Reference Figure 1 、 Figure 2 and Figure 5 As shown, when the second rotary motor 310 drives the first screw rod 320 to rotate forward, the first screw rod 320 cooperates with the two sliding seats 230 to drive the two sliding seats 230 to move rightward synchronously, that is, drive the two lifting components 210 to move rightward synchronously, cooperate with the lifting block 220 to lift the goods, and realize the rightward movement of the goods. Adaptively, when the second rotary motor 310 drives the first screw rod 320 to rotate reversely, the first screw rod 320 cooperates with the two sliding seats 230 to drive the two sliding seats 230 to move leftward synchronously, that is, drive the two lifting components 210 to move leftward synchronously, cooperate with the lifting block 220 to lift the goods, and realize the leftward movement of the goods.

[0077] Reference Figure 1 、 Figure 2 and Figure 5 As shown, the gantry hoisting device can improve the accuracy of driving the hoisting component 210 left and right through the cooperation of the first screw rod 320 and the sliding seat 230, so as to ensure that the cargo is hoisted and moved into place.

[0078] It should be understood that, in some other embodiments, the two sliding seats 230 may be combined into a sliding body, and the two hanging components 210 and the two gathering components 240 are all connected to the sliding body, so that the distance between the two hanging components 210 is relatively fixed.

[0079] Reference Figure 1 、 Figure 2 and Figure 5As shown, it can be understood that in this embodiment, the thickness of the beam 110 gradually increases from top to bottom in the direction away from the lifting mechanism, that is, the thickness of the lower end of the beam 110 is larger and the thickness of the upper end is smaller, so as to improve the stability of the connection between the beam 110 and the support leg 120, reduce the risk of excessive deformation of the beam 110 due to pressure, and help improve the durability of the beam 110.

[0080] Taking into account that when the lifting rope 213 deflects in the front-to-back direction, the lifting rope 213 will generate front-to-back pressure on the gathering member 240, the lower end of the beam 110 of the gantry lifting equipment can be slidably connected to the shell 241 of the gathering member 240 to limit the displacement of the gathering member 240 in the front-to-back direction, so that the movement of the gathering member 240 along the length direction of the beam 110 is more stable, and the lower end of the beam 110 is thicker, which can effectively resist the impact in the front-to-back direction.

[0081] Reference Figure 1 、 Figure 2 and Figure 5 As shown, the beam 110 includes a beam body and reinforcing ribs 111. A cavity running through the beam body is provided on the left and right sides. The reinforcing ribs 111 are provided in the cavity. The two ends of the reinforcing ribs 111 are fixedly connected to the two walls of the cavity respectively, thereby improving the overall stability of the beam body, thereby improving the overall strength of the beam 110, thereby improving the stability of the connection between the beam 110 and the support leg 120, reducing the risk of excessive deformation of the beam 110 under pressure, and helping to improve the durability of the beam 110.

[0082] Reference Figure 1 、 Figure 2 and Figure 5 As shown, it should be noted that the beam 110 can be prepared by molding, extrusion and other processes.

[0083] Reference Figure 1 、 Figure 2 and Figure 5 As shown, it can be understood that the upper end of the sliding seat 230 close to the side of the beam 110 is provided with a slot 231 with an opening facing downward, and the upper end of the beam 110 is embedded in the slot 231 and is slidingly connected to the slot 231, that is, the sliding seat 230 is covered on the upper end of the beam 110, and the pressure borne by the sliding seat 230 can be transferred more directly to the beam 110, which is beneficial to avoid the problem of excessive pressure at the guide rail 112 causing the lifting mechanism to slide unsmoothly along the beam 110, and is beneficial to improving the connection stability between the sliding seat 230 and the beam 110, and is beneficial to avoid the problem of the sliding seat 230 falling off the beam 110.

[0084] Reference Figure 1 、 Figure 2 and Figure 5As shown, it is understood that the gantry lifting equipment also includes an inertial measurement device, which is connected to the center of gravity of the lifting block 220 to monitor the lateral acceleration and swing angular velocity of the lifting block 220. By integrating the swing angular velocity, the real-time deflection angle of the lifting block 220 is obtained to determine the deflection direction and deflection amplitude of the lifting block 220. The lifting component 210 is configured to reel or unreel the lifting rope 213 according to the deflection angle, thereby generating a compensation force to resist the deflection of the lifting block 220, thereby reducing the deflection angle of the lifting block 220, improving the stability of the lifting block 220 and the cargo lifting movement, and improving the efficiency of the cargo lifting movement.

[0085] It should be noted that the detection structure and detection principle of the inertial measurement unit are conventional technical means in this field and will not be described in detail here.

[0086] It should be understood that in some other embodiments, the gantry hoisting device further includes an inclination sensor connected to the hoist block 220 for detecting the deflection angle of the hoist block 220. The detection structure and detection principle of the inclination sensor are conventional technical means in the art and will not be further described here.

[0087] It should be understood that in some other embodiments, the gantry hoisting device further includes a visual detection component that marks and calculates the deflection angle of the hoist block 220, thereby enabling dynamic monitoring of the deflection angle without contacting the hoist block 220. The detection structure and detection principle of the visual detection component are conventional techniques in the art and will not be further described here.

[0088] Reference Figure 1 、 Figure 2 and Figure 3 As shown, it can be understood that, in this embodiment, the gantry lifting equipment also includes a displacement detection component, which is used to detect the lateral displacement of the lifting mechanism and the lifting block 220, and the lifting component 210 is configured to reel or unreel the lifting rope 213 according to the lateral movement deviation of the lifting block 220 relative to the lifting mechanism.

[0089] Reference Figure 1 、 Figure 2 and Figure 3As shown, the displacement detection assembly includes a rotary encoder. By detecting the second rotary motor 310, the rotary encoder can accurately calculate the lateral displacement of the hoisting member 210. The lateral displacement of the hoisting member 210 is a first distance. The displacement detection assembly also includes a laser rangefinder. The laser rangefinder can be installed at the support leg 120. By emitting a laser at the hoist block 220, the lateral displacement of the hoist block 220 in the left-right direction is measured by the time of flight of the laser. The lateral movement of the hoisting member 210 is a second distance. The difference between the first distance and the second distance is the lateral movement deviation between the hoist block 220 and the cargo. The lateral movement deviation can reflect the degree of deflection of the hoist block 220. The hoisting member 210 is configured to reel or unreel the hoist rope 213 according to the lateral movement deviation, thereby generating a compensating force to resist the deflection of the hoist block 220, thereby reducing the deflection angle of the hoist block 220, improving the stability of the hoist block 220 and the cargo, and improving the efficiency of the cargo hoisting.

[0090] Reference Figure 6 As shown, a control method according to an embodiment of the present invention is applied to the gantry hoisting equipment according to any of the above embodiments, and the control method includes the following steps:

[0091] Step S100, hang the cargo on the hanging block 220, and control the operation of the hanging mechanism to lift the cargo;

[0092] Step S200 , controlling the moving mechanism 300 to drive the hoisting mechanism to move in a first direction, where the first direction is leftward or rightward along the beam 110 ;

[0093] Step S300 , when the lifting block 220 deflects in the opposite direction of the first direction, the lifting member 210 away from the lifting block 220 is controlled to reel in the lifting rope 213 ;

[0094] In step S400 , when the hanging block 220 deflects toward the first direction, the hanging member 210 away from the hanging block 220 is controlled to reel in the hanging rope 213 .

[0095] Reference Figure 1 、 Figure 2 and Figure 6 As shown, in step S100, the user can hang the goods on the hanging block 220 and control the operation of the hanging mechanism to lift the goods by synchronously winding the two hanging components 210 so that the goods have a certain height from the ground to facilitate subsequent mobile transportation.

[0096] Reference Figure 1 、 Figure 2 and Figure 6As shown, in step S200, after the cargo is hung on the hanging block 220, the gantry lifting equipment can control the moving mechanism 300 to drive the lifting mechanism to move along the first direction, and the first direction is to the left or right along the beam 110, so as to realize the movement of the cargo and the hanging block 220 along the length direction of the beam 110, that is, to realize the lifting movement of the cargo.

[0097] Reference Figure 1 、 Figure 2 and Figure 6 As shown, in step S300, after the cargo is hung on the lifting mechanism, the moving mechanism 300 drives the lifting mechanism to move in the first direction. The lifting block 220 and the cargo tend to maintain their original positions due to inertia. Therefore, the lifting block 220 and the cargo are deflected in the opposite direction of the first direction relative to the moving lifting mechanism, that is, the lifting block 220 swings, and the deflection of the lifting block 220 causes the angle of the lifting rope 213 to change, thereby generating a lateral traction force. At this time, the lifting member 210 of the two lifting members 210 away from the lifting block 220 can reel in the lifting rope 213, so that the traction force applied by the lifting member 210 away from the lifting block 220 on the lifting block 220 is enhanced, thereby offsetting the reverse deflection of the lifting block 220 to the first direction, which is beneficial to reducing the shaking amplitude of the lifting block 220 and the cargo, and improving the stability of the cargo during lifting and movement.

[0098] Reference Figure 1 、 Figure 2 and Figure 6 As shown, in step S400, when the cargo approaches the end point of displacement, the moving mechanism 300 begins to decelerate, and the hanging block 220 and the cargo tend to maintain their original positions due to inertia. Therefore, the hanging block 220 and the cargo are deflected in the first direction relative to the moving lifting mechanism, that is, the hanging block 220 swings, and the deflection of the hanging block 220 causes the angle of the lifting rope 213 to change, thereby generating a lateral traction force. At this time, the lifting member 210 of the two lifting members 210 away from the hanging block 220 can reel in the lifting rope 213, so that the traction force applied by the lifting member 210 away from the hanging block 220 on the hanging block 220 is enhanced, thereby offsetting the deflection of the hanging block 220 in the first direction, which is beneficial to reducing the shaking amplitude of the hanging block 220 and the cargo, and improving the stability of the cargo during lifting and movement.

[0099] Reference Figure 1 、 Figure 2 and Figure 6As shown, the control method can control the two lifting components 210 to operate separately according to the deflection state of the lifting block 220 and the cargo, and the lifting rope 213 is reeled in by the lifting component 210 away from the lifting block 220, so that the lifting rope 213 close to the lifting block 220 becomes relatively longer, and the lifting rope 213 away from the lifting block 220 becomes relatively shorter. Under the reeling traction force of the lifting component 210, a compensation force is generated to offset the deflection of the lifting block 220, so as to limit the deflection amplitude of the lifting block 220 and improve the stability and efficiency of the cargo lifting movement.

[0100] Reference Figure 1 、 Figure 2 and Figure 6 As shown, it can be understood that the control method further includes the following steps:

[0101] The winding speed of the hoisting member 210 is controlled according to the moving speed of the hoisting mechanism along the first direction, so that the winding speed of the hoisting member 210 away from the hanging block 220 satisfies the following formula:

[0102] ;

[0103] Reference Figure 1 、 Figure 2 and Figure 6 As shown, is the reeling speed of the hoisting member 210 away from the hoisting block 220, is the moving speed of the hoisting mechanism along the first direction, is the deflection angle of the hanging block 220 relative to the vertical direction, To compensate for speed.

[0104] Reference Figure 1 、 Figure 2 and Figure 6 As shown, considering that the movement speed of the lifting mechanism has a significant impact on the deflection of the lifting block 220 and the cargo, if the movement speed of the lifting mechanism is high, the deflection of the lifting block 220 and the cargo is large, and a higher reeling speed is required for the lifting member 210 away from the lifting block 220. If the movement speed of the lifting mechanism is low, the deflection of the lifting block 220 and the cargo is small, and a lower reeling speed is required for the lifting member 210 away from the lifting block 220.

[0105] Reference Figure 1 、 Figure 2 and Figure 6 As shown, in step S500, the control method can control the winding speed of the hoisting component 210 away from the hanging block 220 according to the moving speed of the hoisting mechanism along the first direction, so that the winding speed of the hoisting component 210 away from the hanging block 220 conforms to the above formula.

[0106] Reference Figure 1、 Figure 2 and Figure 6 As shown, after the mobile mechanism 300 drives the lifting mechanism to move laterally in the first direction, the lifting block 220 and the cargo are deflected more significantly due to the inertia of the lifting block 220 and the cargo, especially when the driving speed of the mobile mechanism 300 is relatively fast. represents the degree of deflection of the lifting block 220, by comparing the lateral speed of the lifting mechanism with The multiplication can compensate for the position change of the hanging block 220 caused by the lateral movement of the hanging mechanism, thereby adjusting the winding speed of the hanging component 210 away from the hanging block 220 to keep the hanging block 220 relatively stable.

[0107] Reference Figure 1 、 Figure 2 and Figure 6 As shown, To compensate for the speed, the compensation term is used to deal with non-ideal factors in the model, such as air resistance, mechanical delay, sensor error or other unconsidered dynamic effects. This part can be dynamically adjusted through real-time feedback control, such as using the output of the PID controller to obtain the compensation speed.

[0108] Reference Figure 1 、 Figure 2 and Figure 6 As shown, assuming that the lifting mechanism is at a speed of If it moves to the right, the hanging block 220 will swing to the left due to inertia, forming a deflection angle In order to offset this swing, the hoisting member 210 away from the hanging block 220 needs to reel in the rope 213, shortening the length of the rope 213 away from the hanging block 220, thereby generating a tensile force component in the first direction to offset the swing of the hanging block 220 in the opposite direction to the first direction. That is, the reeling speed of the hoisting member 210 away from the hanging block 220 is It needs to be adjusted according to the moving speed of the hoisting mechanism and the current deflection angle to ensure the stability of the hoisting block 220.

[0109] Reference Figure 1 、 Figure 2 and Figure 6 As shown, It is expressed as the ratio of the lateral displacement to the vertical displacement, assuming that the vertical position of the hanging block 220 is relatively fixed. The larger the value, the greater the lateral displacement, and therefore a greater compensation speed is required to adjust the length of the suspension rope 213 to reduce the swing. It reflects the lateral displacement trend of the lifting block 220 caused by the movement of the lifting mechanism itself. The basic winding speed calculated according to the product of the current deflection angle and the lateral movement speed of the lifting mechanism is used to offset the expected swing. is an additional control input used to actively suppress the residual swing, i.e. Dynamic adjustments based on real-time feedback (such as the rate of change of the deflection angle and error integral) further suppress swing. The gantry hoisting system uses a rotary encoder to measure the displacement of the hoisting mechanism. The ratio of the displacement to time provides the speed of the hoisting mechanism.

[0110] Reference Figure 1 、 Figure 2 and Figure 6 As shown, it can be understood that the control method also includes:

[0111] Step S600: obtaining a first distance of lateral movement of the lifting mechanism and a second distance of lateral movement of the lifting block 220, and obtaining a lateral movement deviation of the lifting block 220 according to a difference between the first distance and the second distance;

[0112] The compensation speed is dynamically calculated based on the lateral movement deviation of the hanging block 220 so that the compensation speed satisfies the following formula:

[0113] ;

[0114] Reference Figure 1 、 Figure 2 and Figure 6 As shown, is the lateral movement deviation, is the proportional gain coefficient, , is the maximum winding speed of the hoisting member 210, is the maximum permissible swing amplitude, is the integral gain coefficient, , t is time, is the differential gain coefficient, , is the oscillation period.

[0115] Reference Figure 1 、 Figure 2 and Figure 6 As shown, the control method can process the residual error according to the compensation speed generated by PID to generate the feedback term , combined with the aforementioned generation of feedforward terms By adding the two, the comprehensive winding speed of the hoisting component 210 away from the hanging block 220 can be obtained. By adjusting the winding speed of the hoisting component 210 away from the hanging block 220, the deflection of the hanging block 220 and the cargo can be suppressed to improve the stability and efficiency of the hoisting movement of the hanging block 220 and the cargo.

[0116] Reference Figure 1 、 Figure 2 and Figure 6As shown, the feedforward term pre-offsets the calculable disturbance based on the physical model, while the feedback term dynamically eliminates the residual error not offset by the feedforward term through PID, so as to improve the accuracy of the speed control of the lifting component 210 away from the lifting block 220, which is beneficial to improving the movement stability and efficiency of the cargo and the lifting block 220.

[0117] Reference Figure 1 、 Figure 2 and Figure 6 As shown in Figure 1, the feedback term is the sum of the proportional, integral, and differential terms. Among the feedback terms, the proportional term determines the response strength to the current error and is used to address the current error. The integral term determines the correction strength for historical accumulated errors and is used to address accumulated errors. The differential term determines the ability to predict error trends and is used to predict future error trends.

[0118] It should be noted that the proportional gain coefficient, the integral gain coefficient and the differential gain coefficient can be adjusted or formulated by, for example, trial and error or the Ziegler-Nichols method, which will not be described in detail here.

[0119] It should be noted that the maximum swing amplitude can be calculated based on the product of the length of the suspension rope 213 and the maximum allowable deflection angle. The maximum allowable deflection angle is the safety threshold and can be 8° to 10°. The maximum winding speed of the suspension component 210 can be calculated based on multiple factory calibration parameters of the first rotating motor 211, for example, by dividing the product of the motor's rated power and mechanical efficiency by the allowable tension of the suspension rope 213. The oscillation period can be calculated theoretically using a simple pendulum model. , where L is the length of a single suspension rope 213.

[0120] Reference Figure 1 、 Figure 2 and Figure 6 As shown, it can be understood that the control method further includes the following steps:

[0121] In step S700, when the mobile mechanism 300 drives the hoisting mechanism to start decelerating and the deflection angle of the hoisting block 220 stops increasing and becomes less than a preset angle, the hoisting member 210 away from the hoisting block 220 is controlled to start unwinding to eliminate the length difference between the two hoisting ropes 213, so that the length difference between the two hoisting ropes 213 satisfies the following formula:

[0122] ;

[0123] Reference Figure 1 、 Figure 2 and Figure 6 As shown, is the target length difference between the two suspension ropes 213, is the initial length difference between the two suspension ropes 213, is the attenuation coefficient, and satisfies , S is the remaining braking distance, k is the safety factor, and its value is 1.2~1.5. The preset angle can be set to a range where the deflection of the hanging block 220 is relatively small, such as 2°~5°.

[0124] Reference Figure 1 、 Figure 2 and Figure 6 As shown, after the mobile mechanism 300 drives the lifting mechanism to start decelerating, and the deflection angle of the lifting block 220 stops increasing, that is, the deflection of the lifting block 220 caused by inertia is gradually decaying, when the deflection angle of the lifting block 220 is less than the preset angle, that is, at this time, the lifting block 220 and the cargo have tended to a stable state. At this time, if there is still a length difference between the lifting ropes 213 on both sides, it will cause the lifting block 220 and the cargo to be in a deflected state after tending to be stable.

[0125] Reference Figure 1 、 Figure 2 and Figure 6 As shown, therefore, after the conditions are met that the moving mechanism 300 drives the lifting mechanism to start decelerating and the deflection angle of the lifting block 220 stops increasing and is less than the preset angle, the lifting component 210 with a shorter lifting rope 213 can be gradually unwound according to the target length difference, so that the target length difference between the two lifting ropes 213 gradually returns to zero, so as to ensure the balance of the lifting block 220 and the cargo after they are moved into place.

[0126] Reference Figure 1 、 Figure 2 and Figure 6 As shown, specifically, the target length difference between the two lifting ropes 213 can be adjusted through the attenuation coefficient based on the initial length difference of the lifting ropes 213 and the lateral movement deviation. The attenuation coefficient increases as the lifting mechanism decelerates to ensure that the length difference between the two lifting ropes 213 smoothly returns to zero, which can effectively avoid impact and ensure the balance of the cargo after it is moved into place, so as to improve the stability and efficiency of cargo lifting and transportation.

[0127] The remaining braking distance is the difference between the target moving distance and the lateral moving distance of the lifting mechanism. The unwinding or rewinding length of the lifting rope 213 can be obtained by detecting the first rotating motor 211 through the rotary encoder combined with the standard length of the lifting rope 213, which will not be repeated here.

[0128] Reference Figure 1 、 Figure 2 and Figure 6 As shown, it can be understood that the control method configures the electromagnet 121 to adjust its operating state according to the deflection direction and deflection amplitude of the hanging block 220 and the cargo, including whether the electromagnet 121 is operating and the operating power, so as to generate a compensation force to offset the deflection of the hanging block 220 due to inertia, so as to reduce the shaking of the hanging block 220 and the cargo, so as to improve the stability of the cargo during lifting and movement.

[0129] The control method comprises the following steps:

[0130] When the hanging block 220 deflects in the opposite direction of the first direction, the electromagnet 121 on the support leg 120 close to the first direction among the two support legs 120 is controlled to operate to generate an adsorption force toward the first direction on the hanging block 220, thereby generating a compensation force to offset the deflection of the hanging block 220 due to inertia, so as to reduce the shaking of the hanging block 220 and the cargo, and improve the stability of the cargo during lifting and movement.

[0131] When the hanging block 220 deflects toward the first direction, the electromagnet 121 on the support leg 120 away from the first direction among the two support legs 120 is controlled to operate to generate a reverse adsorption force toward the first direction on the hanging block 220, thereby generating a compensation force to offset the deflection of the hanging block 220 due to inertia, so as to reduce the shaking of the hanging block 220 and the cargo, and improve the stability of the cargo during lifting and movement.

[0132] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the scope of the present invention.

Claims

1. A gantry hoisting device, characterized in that: include: The door frame includes a crossbeam and two supporting legs extending vertically, wherein the ends of the crossbeam are arranged in the left-right direction, and the upper ends of the two supporting legs are respectively connected to the left and right ends of the crossbeam; A lifting mechanism comprising a lifting block and two lifting components arranged on the left and right, the lifting components comprising a first rotating motor, a rotating drum, and a lifting rope, the first rotating motor being connected to the rotating drum to drive the rotating drum to rotate in a forward or reverse direction, the ends of the lifting rope being connected to the rotating drum and the lifting block, respectively, the first rotating motor being configured to reel in or unreel in accordance with the deflection of the lifting block to adjust the length difference between the two lifting ropes; A moving mechanism, connected to the crossbeam and connected to the hoisting mechanism, so as to drive the hoisting mechanism to move back and forth along the crossbeam in a straight line; The hoisting mechanism further includes two bundling members, the two bundling members are respectively located below the two hoisting members, the bundling members include a sheave and a shell, the shell is provided with a bundling cavity extending vertically therethrough, the sheave is provided in the bundling cavity, the hoisting rope passes through the bundling cavity, the outer circumference of the sheave is provided with an embedding groove, the hoisting rope is embedded in the embedding groove, and the sheave is configured to be able to slide left and right along the shell; The left and right ends of the hanging block are respectively provided with ferromagnets, and the two supporting legs are respectively provided with electromagnets, the electromagnets can be opposite to the ferromagnets, and the electromagnets are configured to operate according to the deflection of the hanging block to generate an adsorption force that suppresses the deflection of the hanging block; and / or, the left and right ends of the hanging block are respectively provided with ferromagnets, and the supporting legs are arranged with multiple electromagnets along their length direction, the electromagnets can be opposite to the ferromagnets, and the electromagnets are configured to operate according to the deflection of the hanging block to generate an adsorption force that suppresses the deflection of the hanging block.

2. The gantry hoisting equipment according to claim 1, characterized in that: The bundling component includes two sheaves, and the bundling component also includes a connecting block and two first linear drivers. The inner wall surface of the shell is provided with a first slide groove inclined from top to bottom in a direction away from the connecting block, and a second slide groove inclined from bottom to top in a direction away from the connecting block. The first slide groove is located above the second slide groove. The two sheaves are slidingly connected to the first slide groove and the second slide groove respectively. The two first linear drivers are respectively connected to the two sheaves. The two ends of the first linear driver are respectively rotatably connected to one end of the sheave facing away from the sling and the connecting block.

3. The gantry hoisting equipment according to claim 1, characterized in that: The side walls of the crossbeam are connected to guide rails extending left and right, the hoisting mechanism further includes a sliding seat, the hoisting member and the bundling member are both connected to the sliding seat, the sliding seat is slidingly connected to the guide rail, the moving mechanism includes a second rotating motor and a first screw rod, the first screw rod is rotatably connected to the crossbeam, a first screw hole is provided on the sliding seat, the first screw hole is threadedly connected to the first screw rod, and the second rotating motor is transmission-connected to the first screw rod to drive the first screw rod to rotate forward or reverse; And / or, the thickness of the cross beam gradually increases from top to bottom in a direction away from the hoisting mechanism, and the lower end of the cross beam can abut against the gathering member.

4. The gantry hoisting equipment according to claim 3, characterized in that: The upper end of the sliding seat is provided with a downwardly opening slot, and the upper end of the crossbeam is embedded in the slot and slidably connected to the slot; And / or, further comprising an inertia measurement device, the inertia measurement device being connected to the lifting block for obtaining a deflection angle of the lifting block, the lifting member being configured to reel in or unreel the lifting rope according to the deflection angle; And / or, it also includes a displacement detection component, which is used to detect the lateral displacement of the lifting mechanism and the lifting block, and the lifting component is configured to reel or unreel the lifting rope according to the lateral movement deviation of the lifting block relative to the lifting mechanism.

5. A control method, characterized in that: Applied to the gantry hoisting equipment according to any one of claims 1 to 4, the control method comprises: Hanging the cargo on the hanging block and controlling the operation of the hanging mechanism to lift the cargo; Controlling the moving mechanism to drive the hoisting mechanism to move along a first direction, wherein the first direction is leftward or rightward along the beam; When the lifting block deflects in the opposite direction of the first direction, the lifting member of the two lifting members that is away from the lifting block is controlled to reel in the lifting rope; When the hanging block deflects toward the first direction, the hanging member away from the hanging block among the two hanging members is controlled to reel in the hanging rope.

6. The control method according to claim 5, characterized in that: The control method further includes: The winding speed of the hoisting member is controlled according to the moving speed of the hoisting mechanism along the first direction, so that the winding speed of the hoisting member away from the hoisting block satisfies the following formula: ； in, is the reeling speed of the hoisting member away from the hoisting block, is the moving speed of the hoisting mechanism along the first direction, is the deflection angle of the hanging block, To compensate for speed.

7. The control method according to claim 6, characterized in that: The control method further includes: Acquire a first distance of lateral movement of the hoisting mechanism and a second distance of lateral movement of the hoisting block, and obtain a lateral movement deviation of the hoisting block according to a difference between the first distance and the second distance; The compensation speed is dynamically calculated according to the lateral movement deviation of the hanging block, so that the compensation speed satisfies the following formula: ； in, is the lateral movement deviation, is the proportional gain coefficient, , is the maximum winding speed of the hoisting component, is the maximum permissible swing amplitude, is the integral gain coefficient, , t is time, is the differential gain coefficient, , is the oscillation period.

8. The control method according to claim 7, wherein: The control method further includes: When the moving mechanism drives the hoisting mechanism to start decelerating and the deflection angle of the hoisting block stops increasing and is less than a preset angle, the hoisting member away from the hoisting block is controlled to start unwinding to eliminate the length difference between the two hoisting ropes, so that the length difference between the two hoisting ropes satisfies the following formula: ； in, is the target length difference between the two suspension ropes, is the initial length difference between the two suspension ropes, is the attenuation coefficient, and satisfies , S is the remaining braking distance, k is the safety factor, and its value is 1.2~1.5, is the lateral movement deviation, and t is time.

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