Compact low-clearance anti-swing crane and anti-swing method

Abstract

The invention belongs to the technical field of cranes, and particularly relates to a compact low-clearance anti-swing crane and an anti-swing method. The device comprises a door frame; a hoist frame; a reel; a transverse driving motor; the hoisting mechanism is in transmission connection with the reel through a steel wire rope; the two groups of upper lifting pulley blocks are mounted on the hoisting frame and are arranged in parallel along the axis direction of the winding drum; the two lower lifting pulley blocks are installed on the lifting mechanism and arranged in parallel in the axis direction of the winding drum. The rotating center line of the upper lifting pulley block and the rotating center of the roller are located on the same plane. And the rotating center line of the lower lifting pulley block is lower than that of the lifting mechanism. The driving motor is transversely arranged, power is transmitted to the winding drum through the gearbox, meanwhile, the static size in the vertical direction is further reduced through the arrangement of the upper and lower pulley blocks with the low gravity center and the design of the lifting hook assembly with the high gravity center, and therefore under the given workshop clearance height, the working efficiency is improved. And the vast majority of vertical space is released to an effective cargo lifting stroke.

Description

Technical Field

[0001] This invention belongs to the field of crane technology, specifically relating to a compact, low-headroom anti-sway crane and an anti-sway method. Background Technology

[0002] Gantry cranes, as key equipment in modern industrial production and logistics transportation, use a lifting mechanism in conjunction with large and small overhead trolleys to transfer goods. Most existing cranes use a vertical motor to drive the pulley system on the overhead trolley, which in turn uses wire ropes to connect with the pulley system on the lifting mechanism to directly lift goods. However, in specific working conditions such as low-ceiling factory buildings and height restrictions, existing cranes have the following drawbacks: (1) The vertical motor itself and its supporting components such as brakes and gearboxes occupy a large amount of space in the vertical direction. At the same time, the minimum distance between the upper and lower pulleys of the pulley block connecting the lifting frame and the hook mechanism further compresses the available space. This results in a significant reduction in the effective lifting height of the crane under a given factory clearance height, making it impossible to make full use of the limited vertical space and greatly limiting its ability to handle large or high-level goods.

[0003] (2) A wire rope is lifted by a drum, and multiple drums are controlled by different motors. If the two drums do not rotate synchronously during the lifting process, the wire rope may produce an excessive deflection angle, which may lead to the wire rope jumping out of the groove or even getting stuck.

[0004] (3) During crane operation, especially when the trolley, crane and hoisting mechanism are operated in conjunction, or when switching from single-action mode to linkage mode, the suspended load will swing continuously due to the starting and braking impact of the transmission system and the inertia of the load, commonly known as the "hook swinging" phenomenon. This swinging causes the wire rope to jump out of the groove, which not only seriously affects the efficiency and accuracy of loading and unloading operations, making it difficult for operators to quickly and accurately position the load, but also brings major safety hazards, causing accidents such as load collision and falling, and at the same time impacting the metal structure and transmission components of the crane, shortening the service life of the equipment.

[0005] Existing anti-sway technologies mostly employ sensors and laser rangefinders to monitor the load's sway angle or angular velocity in real time, using algorithms such as fuzzy control or adaptive control to form a closed-loop feedback. The disadvantages are that they require additional sensor hardware, significantly increasing manufacturing costs and maintenance complexity; furthermore, the sensors are prone to failure in harsh industrial environments. The control algorithms are complex, demanding high computing power from the controller; on-site debugging requires deep expertise; parameter tuning is difficult, making them unsuitable for widespread adoption and implementation on existing equipment. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing technologies, such as insufficient effective lifting height, easy wire rope deviation and slotting, and complex and costly load swing control, and to provide a compact low headroom anti-sway crane and anti-sway method with a compact structure, maximized lifting height, stable operation and low-cost intelligent anti-sway function.

[0007] The technical solution adopted by this invention to solve its technical problem is: As a first aspect, the present invention provides a compact, low-headroom, anti-sway crane, comprising: The gantry is connected to the ground rails via a trolley traveling mechanism. The crane frame is movable relative to the gantry via a trolley traveling mechanism; A drum is mounted on the lifting frame along the Y-axis direction; A transverse drive motor is mounted on the lifting frame along the X-axis and is vertically connected to the drum via a gearbox. The lifting mechanism is connected to the drum via a wire rope. Two sets of upper lifting pulleys and two sets of lower lifting pulleys are provided. The two sets of upper lifting pulleys are installed on the lifting frame and arranged side by side along the axis of the drum. The two sets of lower lifting pulleys are installed on the lifting mechanism and arranged side by side along the axis of the drum. The rotation center line of the upper lifting pulley block is on the same plane as the rotation center of the drum; the rotation center line of the lower lifting pulley block is lower than the rotation center line of the lifting mechanism.

[0008] Furthermore, it also includes two steel wire ropes, one end of each of the two steel wire ropes is wound on the drum, and the other end is successively passed around the lower lifting pulley block and the corresponding upper lifting pulley block and fixed on the lifting frame.

[0009] Furthermore, the upper lifting pulley assembly includes a first lifting pulley and a second lifting pulley arranged side by side along the X-axis; the rotation centers of the first lifting pulley and the second lifting pulley are both on the same plane as the rotation center of the drum.

[0010] Furthermore, the lifting mechanism includes: Hanger and lifting beam fixedly mounted on the hanger; The hook assembly is rotatably mounted on the lifting beam, and the gripping direction of the hook assembly is consistent with the axial direction of the drum.

[0011] Furthermore, the hook assembly includes a vertical shaft portion and a hook body fixedly disposed at the lower end of the vertical shaft portion; the vertical shaft portion is installed inside the lifting beam and is rotatably connected to the lifting crossbeam via bearings.

[0012] Furthermore, the lower lifting pulley assembly includes a third lifting pulley and a fourth lifting pulley mounted on the gantry; the rotation center lines of the third lifting pulley and the fourth lifting pulley are both lower than the rotation center line of the hook assembly.

[0013] Furthermore, the lateral drive motor is connected to the gearbox via a universal coupling; the gearbox is a vertically steering planetary gearbox.

[0014] Furthermore, it also includes an anti-shake control system, which comprises: The main control module and several frequency converters that drive the crane motor; The data retrieval module is used to retrieve the crane's operating data in real time and transmit it to the main control module. The operating data includes the load weight, the acceleration and deceleration values ​​of the trolley traveling mechanism, the acceleration and deceleration values ​​of the gantry traveling mechanism, the acceleration and deceleration time of the trolley traveling mechanism, the acceleration and deceleration time of the gantry traveling mechanism, and the real-time lifting height of the load. The mode determination module is used to determine the operating mode of the crane and transmit the result to the main control module; the operating modes include single-action mode of the trolley traveling mechanism, single-action mode of the gantry traveling mechanism, and linkage mode; The first-level adaptive anti-sway module is connected to the main control module and dynamically adjusts the acceleration and deceleration time of the crane's speed commands for the trolley traveling mechanism and the gantry traveling mechanism according to the operating mode and load weight. The secondary trajectory anti-sway module is used to calculate the load swing cycle based on the real-time lifting height and load weight, and to correct the speed command generated by the primary working condition adaptive anti-sway module. The speed command module is used to output the corrected speed command to the frequency converter.

[0015] Furthermore, the first-level adaptive anti-sway module includes an acceleration / deceleration time operation unit and an activation unit for activating the acceleration / deceleration time operation unit to output acceleration / deceleration commands.

[0016] As a second aspect, the present invention provides an anti-sway method for a compact, low-headroom anti-sway crane, comprising the following: S1: Real-time acquisition of crane operating mode, load weight information, and lifting height; S2: Based on the information obtained in step S1, dynamically adjust the acceleration time and / or deceleration time of the trolley running mechanism and / or the trolley running mechanism; the dynamic adjustment logic is: when the operating mode is the linkage mode and the load weight exceeds the preset threshold, the acceleration time and / or deceleration time are extended. S3: The acceleration and / or deceleration times dynamically adjusted in step S2 are used to correct the trajectory, obtain the anti-sway travel trajectory, and output the command. Furthermore, in step S3, the trajectory correction includes the following: During the acceleration process, the speed setpoint is increased at least twice in the total acceleration time, and a uniform running segment with a duration of a first predetermined value is inserted between the two adjacent speed increases. During the deceleration process, within the total deceleration time, a deceleration phase is first executed, then the deceleration is reduced to zero, allowing the load to glide at a constant speed for a period of time lasting for a second predetermined value, and finally the remaining deceleration is completed until the vehicle stops.

[0017] The beneficial effects of the compact, low-headroom anti-sway crane and anti-sway method of the present invention are: This invention revolutionizes the traditional vertical drive layout into a compact structure combining horizontal drive with a gearbox for vertical steering, thereby increasing the effective lifting height of cranes in low-headroom conditions. Specifically, by arranging the drive motor laterally and using a vertically steering planetary gearbox to transmit power to the drum, the enormous space occupied by the original vertical motor, brake, and gearbox in the vertical direction is completely eliminated. Simultaneously, the layout of the upper and lower low-center-of-gravity pulley groups and the design of the high-center-of-gravity hook assembly further reduce the static dimensions of the system in the vertical direction. This significantly reduces the crane's structural height within a given factory headroom, freeing up most of the vertical space for effective cargo lifting. The direct benefit is that, within factory headroom conditions, this invention can increase the effective lifting height by 5% to 20% compared to traditional cranes, making it possible to handle higher goods or larger equipment, greatly expanding the application potential and operating range of cranes, and providing an unprecedented solution for upgrading and transforming logistics systems in existing low-headroom factories.

[0018] This invention employs a single drum combined with two symmetrically arranged upper and lower lifting pulley groups and two wire ropes. The ends of both wire ropes are fixed to the crane frame. Synchronous winding and unwinding via the drum's forward and reverse rotation structurally eliminates the risk of wire rope deflection and slippage caused by asynchronous multi-motor drives. Furthermore, this invention includes a primary adaptive anti-sway module and a secondary trajectory anti-sway module. The primary adaptive anti-sway module dynamically adjusts the acceleration and deceleration times of the crane's speed commands in the trolley and overhead trolley mechanisms based on the operating mode and load weight. The secondary trajectory anti-sway module calculates the load sway cycle based on real-time lifting height and load weight, correcting the speed commands generated by the primary adaptive anti-sway module. By suppressing load sway and reducing the fluctuation amplitude of the wire rope's dynamic tension, it fundamentally ensures the stability of the wire rope's winding order and angle between the drum and pulleys, thereby further ensuring the wire rope does not deflect at the control level. Attached Figure Description

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0020] Figure 1 This is a perspective view of the crane in an embodiment of the present invention.

[0021] Figure 2 This is a partial structural schematic diagram of the crane in an embodiment of the present invention.

[0022] Figure 3 This is a detailed view of the lifting mechanism in an embodiment of the present invention.

[0023] Figure 4 yes Figure 3 The main view.

[0024] Figure 5 This is a schematic diagram of the winding method of the steel wire rope in an embodiment of the present invention.

[0025] Figure 6 This is a connection diagram of the upper lifting pulley group and the lower lifting pulley group in an embodiment of the present invention.

[0026] Figure 7 This is a front view of the lifting mechanism in an embodiment of the present invention.

[0027] Figure 8 This is a schematic diagram of the hook assembly in an embodiment of the present invention.

[0028] Figure 9 This is a schematic diagram of the crane's travel in an embodiment of the present invention.

[0029] Figure 10 This is a control block diagram of the anti-shake control system in an embodiment of the present invention.

[0030] Figure 11 This is a flowchart of the anti-shake method in an embodiment of the present invention.

[0031] Figure 12 This is a diagram showing the relationship between the swing angle of the suspended object and time during the hoisting process in existing technologies.

[0032] Figure 13 This is a diagram showing the relationship between the swing angle of the suspended object and time during the hoisting process using the anti-sway method of this invention.

[0033] In the diagram: 1. Gantry, 2. Trolley traveling mechanism, 3. Lifting frame, 4. Trolley traveling mechanism, 5. Drum, 6. Horizontal drive motor, 7. Lifting mechanism, 71. Lifting frame, 72. Lifting beam, 73. Hook assembly, 731. Vertical shaft, 732. Hook body, 8. Upper lifting pulley block, 81. First lifting pulley, 82. Second lifting pulley, 9. Lower lifting pulley block, 91. Third lifting pulley, 92. Fourth lifting pulley, 10. Wire rope, 20. Anti-sway control system, 201. Main control module, 202. Frequency converter, 203. Data retrieval module, 205. Mode judgment module, 206. First-level adaptive anti-sway module, 2061. Acceleration / deceleration time operation unit, 2062. Activation unit, 207. Second-level trajectory anti-sway module, 208. Speed ​​setting module, 11. Gearbox. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0035] like Figures 1-9 The specific embodiment of a compact low-headroom anti-sway crane of the present invention shown includes: a gantry 1, a lifting frame 3, a drum 5, a transverse drive motor 6, a lifting mechanism 7, two sets of upper lifting pulley blocks 8, and two sets of lower lifting pulley blocks 9. Specifically, the gantry 1 is movably connected to the ground rail via a trolley traveling mechanism 2; the lifting frame 3 is movably mounted to the gantry 1 via a trolley traveling mechanism 4; the drum 5 is mounted on the lifting frame 3 along the Y-axis; and the transverse drive motor 6 is mounted on the lifting frame 3 along the X-axis. The lifting mechanism 7 is vertically connected to the drum 5 via a gearbox 11; the lifting mechanism 7 is connected to the drum 5 via a wire rope 10; two sets of upper lifting pulley blocks 8 are installed on the lifting frame 3 and arranged side by side along the axis of the drum 5; two sets of lower lifting pulley blocks 9 are installed on the lifting mechanism 7 and arranged side by side along the axis of the drum 5; wherein, the rotation center line of the upper lifting pulley block 8 is on the same plane as the rotation center of the drum; the rotation center line of the lower lifting pulley block 9 is lower than the rotation center line of the lifting mechanism 7.

[0036] This embodiment innovates the traditional vertical drive layout into a compact structure combining horizontal drive with vertical steering transmission via a gearbox 11, thereby increasing the effective lifting height of the crane under low headroom conditions. Specifically, by arranging the drive motor laterally and using a vertically steering planetary gearbox 11 to transmit power to the drum 5, the huge space occupied by the original vertical motor, brake, and reduction gearbox in the vertical direction is completely eliminated. Simultaneously, the layout of the upper and lower sets of low-center-of-gravity pulley groups and the design of the high-center-of-gravity hook assembly 73 further reduce the static dimensions of the system in the vertical direction. This significantly reduces the crane's structural height within a given factory headroom, freeing up most of the vertical space for effective cargo lifting. The direct benefit is that, within factory headroom conditions, this invention can increase the effective lifting height by 20% to 40% compared to traditional cranes, making it possible to handle higher-positioned goods or larger equipment. This greatly expands the application potential and operating range of the crane, providing an unprecedented solution for upgrading and transforming logistics systems in existing low-headroom factories.

[0037] It should be understood that the crane in this embodiment also includes two wire ropes 10. One end of each wire rope 10 is wound on a drum 5, and the other end passes sequentially around the lower lifting pulley block 9 and the corresponding upper lifting pulley block 8, and is fixed to the lifting frame 3. The two wire ropes 10 are driven by the same source, fundamentally eliminating the problem of asynchronous winding and unwinding of the wire ropes 10 caused by differences in the performance of multiple drive motors, control response delays, or mechanical transmission errors. This forced synchronization ensures that the wire ropes 10 always maintain a regular winding order on the drum 5 and are always in the center of the groove when passing through each pulley, thereby completely eliminating the angular deviation caused by uneven tension or speed difference. The symmetrically arranged wire ropes 10 evenly transmit the load to both sides of the lifting frame 3, forming a balanced force system. This effectively avoids the torsional deformation of the lifting frame 3 that may be caused by unilateral force, ensuring the overall structural stability and rigidity of the crane during the lifting process, and providing a mechanical platform for further precise anti-sway control.

[0038] like Figure 4 and Figure 7 As shown, the lifting mechanism 7 in this embodiment includes: a hanger 71, a lifting beam 72 fixedly mounted on the hanger 71, and a hook assembly 73 rotatably mounted on the lifting beam 72. The gripping direction of the hook assembly 73 is consistent with the axial direction of the drum 5. This improves the stability of the load when the crane is running in the Y-axis direction, and, together with the pulley block layout, provides favorable conditions for suppressing swaying from a mechanical structure perspective.

[0039] See Figure 8In this embodiment, the transverse drive motor 6 is connected to the gearbox 11 via a universal coupling. The gearbox 11 is a vertically steering planetary gearbox, which efficiently transmits the power of the transverse drive motor 6 to the drum 5. The hook assembly 73 includes a vertical shaft portion 731 and a hook body 732 fixedly disposed at the lower end of the vertical shaft portion 731. The vertical shaft portion 731 is installed inside the lifting beam 72 and is rotatably connected to the lifting crossbeam via bearings. The vertical shaft portion 731 of the hook assembly 73 is connected to the lifting beam 72 via high load-bearing capacity rolling bearings to ensure that the hook can rotate flexibly and automatically center the load.

[0040] In this embodiment, the lateral drive motor 6 is connected to the vertical steering planetary gearbox 11 via a universal coupling. The universal coupling can effectively compensate for minor radial, angular and axial deviations, avoiding problems such as uneven bearing load, increased vibration and loss of transmission efficiency caused by misalignment, ensuring the smoothness of power transmission, and reducing abnormal wear and failure risk of the transmission system from the root.

[0041] like Figure 5 and Figure 6 As shown, the upper lifting pulley assembly 8 includes a first lifting pulley 81 and a second lifting pulley 82 arranged side by side along the X-axis; the rotation centers of the first lifting pulley 81 and the second lifting pulley 82 are both on the same plane as the rotation center of the drum. Meanwhile, the lower lifting pulley assembly 9 includes a third lifting pulley 91 and a fourth lifting pulley 92 mounted on the hanger 71; the rotation center lines of the third lifting pulley 91 and the fourth lifting pulley 92 are both lower than the rotation center line of the hook assembly 73.

[0042] This embodiment places the rotation center lines of the third lifting pulley 91 and the fourth lifting pulley 92 below the rotation center line of the hook assembly 73, forming a unique "low pulley, high lifting point" mechanical layout. This significantly reduces the overall composite height of the lifting mechanism 7 in the vertical direction, allocating more vertical space to the effective cargo lifting stroke. The first and second lifting pulleys 82 are arranged side-by-side along the X-axis, and their rotation centers are coplanar with the rotation center of the drum 5. This allows the wire rope 10, after being drawn from the rope groove of the drum 5, to smoothly and vertically cut into the pulley's rope groove with a minimal or even zero deflection angle. This not only eliminates safety hazards such as wire rope 10 edge grinding and groove jumping caused by deflection angles, but more importantly, it eliminates the need for guide pulleys or deflection angle compensation devices that occupy additional space in the Y-axis direction in traditional designs to correct deflection angles. This makes the entire lifting mechanism more compact and more integrated in the Y-axis direction.

[0043] It needs to be further explained that, such as Figure 9As shown, the compact low headroom anti-sway crane in this embodiment also includes an anti-sway control system 20, comprising a main control module 201, a frequency converter 202 driving the crane motor, a data retrieval module 203, a mode judgment module 205, a first-level adaptive anti-sway module 206, a second-level trajectory anti-sway module 207, and a speed setting module 208. Specifically: The data retrieval module 203 is used to retrieve the crane's operating data in real time and transmit it to the main control module 201. The operating data includes the load weight, the acceleration and deceleration values ​​of the trolley traveling mechanism 2 and the trolley traveling mechanism 4, the acceleration and deceleration time of the trolley traveling mechanism 2 and the acceleration and deceleration time of the trolley traveling mechanism 4, and the real-time lifting height of the load. The mode determination module 205 is used to determine the operating mode of the crane and transmit it to the main control module 201; the operating modes include the single-action mode of the trolley traveling mechanism, the single-action mode of the gantry traveling mechanism, and the linkage mode; The first-level working condition adaptive anti-sway module 206 is connected to the main control module 201 for data connection. It dynamically adjusts the acceleration and deceleration time of the crane's speed commands in the trolley traveling mechanism 2 and the trolley traveling mechanism 4 according to the operating mode and load weight. The secondary trajectory anti-sway module 207 is used to calculate the load swing cycle based on the real-time lifting height and load weight, and to correct the speed command generated by the primary working condition adaptive anti-sway module 206. The speed command module 208 is used to output the corrected speed command to the frequency converter 202.

[0044] After power-on, the main control module 201 initializes each functional block. In this embodiment, the main control cabinet module uses a Siemens S7-1500 series PLC. The data retrieval module 203 communicates with the frequency converters 202 of the hoisting mechanism, trolley mechanism, and crane mechanism via PROFIBUS-DP fieldbus to read the torque current value of the hoisting motor in real time. This current value is proportional to the load weight. By comparing it with a preset threshold, the module can determine the load weight level without sensors. At the same time, the data retrieval module 203 reads the real-time acceleration and deceleration of the trolley running mechanism 2 and the crane running mechanism 4 and the currently set acceleration and deceleration time parameters from each frequency converter 202. Through the absolute encoder installed on the hoisting mechanism, the winding and unwinding length of the wire rope 10 is obtained, and the real-time lifting height of the load is accurately calculated.

[0045] In this embodiment, the primary adaptive anti-sway module 206 includes an acceleration / deceleration time execution unit 2061 and an activation unit 2062 for activating the acceleration / deceleration time execution unit 2061 to output acceleration / deceleration commands. Both the primary adaptive anti-sway module 206 and the secondary trajectory anti-sway module 207 are functional modules within the PLC. Figure 8As shown in the diagram, the command diagram of the adaptive anti-sway module for the working condition in this embodiment is a ramp block. The activation unit 2062 on the left is used to activate the acceleration / deceleration time running unit 2061 on the right.

[0046] In specific single-action and linkage modes, such as Figure 9 As shown, in the acceleration and deceleration time operation unit 2061, ACCTIME and DECTIME are the acceleration and deceleration times, respectively. When the weight of the goods is light, the acceleration time can be appropriately shorter. However, when the weight of the goods is heavy, during the lifting process, if the trolley or the main trolley is started, or both are started, the acceleration time of the trolley and the main trolley can be appropriately extended to allow the mechanism to move slowly, thereby eliminating the swaying frequency. In the process from receiving the command to the brake opening, the time of the inverter 202 is appropriately extended. In this way, the whole process is like a whole, without generating too much frequency disorder. It will only move slowly until the goods stop swaying, and finally run at a high speed. During the stopping process, the trolley also stops slowly to eliminate the swaying.

[0047] The secondary trajectory anti-sway module 207 corrects the speed command generated by the primary working condition adaptive anti-sway module 206, specifically including: During the acceleration process, the speed setpoint is increased at least twice in the total acceleration time, and a uniform running segment with a duration of a first predetermined value is inserted between the two adjacent speed increases. During the deceleration process, within the total deceleration time, a deceleration phase is first executed, then the deceleration is reduced to zero, allowing the load to glide at a constant speed for a period of time lasting for a second predetermined value, and finally the remaining deceleration is completed until the vehicle stops.

[0048] Specifically, a uniform speed sliding section of predetermined length with equal time intervals is embedded during the deceleration phase. More specifically, before actual setup, extensive trial runs are conducted on the corresponding compact, low-headroom, anti-sway crane. The predetermined length is set based on the test data, and its size is determined according to actual needs and the crane's application scenario; details will not be elaborated here. The frequency converter is then controlled according to the settings, and a frequency command is given to control the corresponding motor operation.

[0049] During acceleration, for example, increasing the given value by 0.5 each time, with a period of constant speed in between, choosing an appropriate time for secondary deceleration can completely cancel out the horizontal velocity component of the load relative to the trolley during the two accelerations, thus achieving an anti-sway effect. This method involves calculating the period of a simple pendulum motion, which is related to the square root of the rope length. By grasping the timing of the reverse elimination of the object's inertia, the swaying is reduced. That is, at least one constant speed platform with equal time intervals is inserted during the acceleration phase. During the next acceleration, the acceleration period is used to cancel out the horizontal velocity component of the load relative to the trolley running mechanism 2 or the trolley running mechanism 4; the adjacent acceleration time intervals... In the formula, L is the load lifting height. It is the acceleration due to gravity; This represents the number of uniformly moving platforms inserted.

[0050] Finally, the speed setting module 208 of the inverter 202 receives the target speed, and the secondary trajectory anti-sway module 207 provides the acceleration and deceleration time to change the acceleration or deceleration time, so that the frequency given by the PLC to the inverter 202 changes continuously according to the weight.

[0051] The anti-sway system logic in this embodiment is implemented entirely through PLC software algorithms, without relying on any expensive external hardware such as swing angle sensors, vision sensors, or laser rangefinders. This not only directly and significantly reduces system costs and subsequent maintenance expenses, but also simplifies the system architecture and improves overall reliability in harsh industrial environments.

[0052] like Figure 11 As shown, the anti-sway method for a crane with an anti-sway system includes the following: S1: Real-time acquisition of crane operating mode, load weight information, and lifting height; S2: Based on the information obtained in step S1, dynamically adjust the acceleration time and / or deceleration time of the trolley running mechanism 2 and / or the trolley running mechanism 4; the dynamic adjustment logic is: when the operating mode is the linkage mode and the load weight exceeds the preset threshold, the acceleration time and / or deceleration time are extended. S3: The acceleration and / or deceleration times dynamically adjusted in step S2 are used to correct the trajectory, obtain the anti-sway travel trajectory, and output the command. In step S1, the load weight information is indirectly obtained by reading the torque and current values ​​of the lifting motor. Based on the adaptive adjustment of the working conditions, the motion trajectory is further refined based on the pendulum cycle of the lifting height. By planning specific speed curves that incorporate segmented acceleration and embedded uniform gliding segments, the energy of load swaying is actively offset and consumed, achieving a precise feedforward anti-sway control effect. Through the two-level anti-sway control strategy of adaptive working conditions and trajectory correction, the anti-sway method in this embodiment can intelligently and smoothly start and stop, fundamentally avoiding violent load swaying and mechanical impact caused by sudden changes in speed. This not only ensures the accuracy of cargo positioning and operational safety, but also effectively reduces fatigue damage to the crane's metal structure and transmission components, extending the equipment's service life.

[0053] The anti-shake method of this embodiment is as follows: Figure 12 and Figure 13 As shown in the two attached figures, it can be clearly seen that the method of this embodiment significantly reduces the swing angle of the suspended object during the hoisting process, achieving a better anti-sway function.

[0054] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A compact, low-headroom, anti-sway crane, characterized in that, include: The gantry (1) is connected to the ground rail via the trolley running mechanism (2); The crane frame (3) is movable relative to the gantry (1) via the trolley running mechanism (4); The drum (5) is mounted on the lifting frame (3) along the Y-axis direction; A transverse drive motor (6) is mounted on the lifting frame (3) along the X-axis and is vertically connected to the drum (5) via a gearbox (11); The lifting mechanism (7) is connected to the drum (5) via a wire rope (10); Two sets of upper lifting pulley blocks (8) and two sets of lower lifting pulley blocks (9). The two sets of upper lifting pulley blocks (8) are installed on the lifting frame (3) and arranged side by side along the axial direction of the drum (5); the two sets of lower lifting pulley blocks (9) are installed on the lifting mechanism (7) and arranged side by side along the axial direction of the drum (5). The rotation center line of the upper lifting pulley block (8) is on the same plane as the rotation center of the drum; the rotation center line of the lower lifting pulley block (9) is lower than the rotation center line of the lifting mechanism (7).

2. A compact, low-headroom, anti-sway crane according to claim 1, characterized in that, It also includes two steel wire ropes (10), one end of each steel wire rope (10) is wound on the drum (5), and the other end is successively wrapped around the lower lifting pulley block (9) and the corresponding upper lifting pulley block (8) and fixed on the lifting frame (3).

3. A compact, low-headroom, anti-sway crane according to claim 1, characterized in that, The upper lifting pulley group (8) includes a first lifting pulley (81) and a second lifting pulley (82) arranged side by side along the X-axis; the rotation centers of the first lifting pulley (81) and the second lifting pulley (82) are both on the same plane as the rotation center of the drum.

4. A compact, low-headroom, anti-sway crane according to claim 1, characterized in that, The lifting mechanism (7) includes: Hanger (71) and lifting beam (72) fixedly mounted on the hanger (71); The hook assembly (73) is rotatably mounted on the lifting beam (72), and the gripping direction of the hook assembly (73) is consistent with the axial direction of the drum (5).

5. A compact, low-headroom, anti-sway crane according to claim 4, characterized in that: The hook assembly (73) includes a vertical shaft (731) and a hook body (732) fixedly disposed at the lower end of the vertical shaft (731); the vertical shaft (731) is installed in the lifting beam (72) and is rotatably connected to the lifting frame through a bearing.

6. A compact, low-headroom, anti-sway crane according to claim 4, characterized in that: The lower lifting pulley assembly (9) includes a third lifting pulley (91) and a fourth lifting pulley (92) mounted on the hanger (71); the rotation center lines of the third lifting pulley (91) and the fourth lifting pulley (92) are both lower than the rotation center line of the hook assembly (73).

7. A compact, low-headroom, anti-sway crane according to claim 1, characterized in that: The transverse drive motor (6) is connected to the gearbox (11) via a universal coupling; the gearbox (11) is a vertically steering planetary gearbox (11).

8. A compact, low-headroom, anti-sway crane according to claim 1, characterized in that, It also includes an anti-shake control system (20), which includes: The main control module (201) and several frequency converters (202) that drive the crane motor; each frequency converter (202) corresponds to a motor in the crane. The data retrieval module (203) is used to retrieve the crane's operating data in real time and transmit it to the main control module (201); the operating data includes the load weight, the acceleration and deceleration values ​​of the trolley traveling mechanism (2), the acceleration and deceleration values ​​of the trolley traveling mechanism (4), the acceleration and deceleration time of the trolley traveling mechanism (2), the acceleration and deceleration time of the trolley traveling mechanism (4), and the real-time lifting height of the load; The mode judgment module (205) is used to judge the operating mode of the crane and transmit it to the main control module (201); the operating modes include the single-action mode of the trolley traveling mechanism, the single-action mode of the gantry traveling mechanism, and the linkage mode; The first-level working condition adaptive anti-sway module (206) is connected to the main control module (201) for data connection. According to the operating mode and load weight, it dynamically adjusts the acceleration and deceleration time of the speed command of the crane in the trolley traveling mechanism (2) and the trolley traveling mechanism (4). The secondary trajectory anti-sway module (207) is used to calculate the load swing cycle based on the real-time lifting height and load weight, and to correct the speed command generated by the primary working condition adaptive anti-sway module (206); The speed command module (208) is used to output the corrected speed command to the frequency converter (202).

9. A compact, low-headroom, anti-sway crane according to claim 8, characterized in that, The first-level working condition adaptive anti-sway module (206) includes an acceleration / deceleration time operation unit (2061) and an activation unit (2062) for activating the acceleration / deceleration time operation unit (2061) to output acceleration / deceleration commands.

10. The anti-sway method for a compact, low-headroom anti-sway crane according to claim 8, characterized in that, Includes the following: S1: Real-time acquisition of crane operating mode, load weight information, and lifting height; S2: Based on the information obtained in step S1, dynamically adjust the acceleration time and / or deceleration time of the large trolley running mechanism (2) and / or the small trolley running mechanism (4); the dynamic adjustment logic is: when the running mode is the linkage mode and the load weight exceeds the preset threshold, the acceleration time and / or deceleration time are extended. S3: The acceleration and / or deceleration times dynamically adjusted in step S2 are used to correct the trajectory, obtain the anti-sway travel trajectory, and output the command.

11. The anti-sway method for a compact, low-headroom anti-sway crane according to claim 10, characterized in that, In step S3, the trajectory correction includes the following: During the acceleration process, the speed setpoint is increased at least twice in the total acceleration time, and a uniform running segment with a duration of a first predetermined value is inserted between the two adjacent speed increases. During the deceleration process, within the total deceleration time, a deceleration phase is first executed, then the deceleration is reduced to zero, allowing the load to glide at a constant speed for a period of time lasting for a second predetermined value, and finally the remaining deceleration is completed until the vehicle stops.

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