Active control device for stable steering of hoisted object of crane in air

Abstract

The invention discloses an active control device for aerial stable steering of a hoisted object of a crane. An outer frame is fixedly provided with three layers of platforms from top to bottom; an upper-layer lifting ring is mounted in the center of the upper-layer platform and is upwards hooked with a crane hook; the middle-layer platform is provided with a motor, a motor controller of the motor and a dual-output planetary gear assembly; a centrifugal blade composite flywheel is mounted in the center of the upper surface of the lower-layer platform; the motor controls the centrifugal blade composite flywheel to rotate through the double-output planetary gear assembly, and two lower hanging rings and a network camera are installed on the lower surface of the lower layer platform. The invention belongs to the technical field of crane auxiliary machinery, utilizes fluid reaction type indirect transmission and a centrifugal composite blade structure to realize driving, braking and stable control of rotation of a hoisted object, avoids inertia impact of large-load start and stop, inhibits instantaneous attitude fluctuation of a rotating shaft, reduces vibration and improves the stability of the hoisted object. The problem that in the prior art, a crane is not enough in stability and safety in the aerial angle control process of a hoisted object is solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of crane auxiliary machinery, and relates to an active control device for the aerial stable steering of a crane hoist. BACKGROUND

[0002] During the hoisting of materials by a crane, the spatial angle of the hoist may need to be adjusted. In assembled buildings, the hoist is usually a prefabricated building structural member, such as a staircase, a prefabricated beam, a prefabricated column, etc. In order to install and fix the prefabricated member, the crane is required to lower the hoist at a specified attitude angle to a predetermined position. In a port, a container needs to be placed at a specified angle. However, in the existing crane hoisting process, the hoist is hung on the crane hook by a steel wire rope. At this time, the turning attitude angle of the hoist in the air is uncertain. In order to ensure that the hoist falls off the hook at a specified angle, the operator at the hook point needs to manually adjust the turning angle of the hoist. When the hoist is large in size, multiple ground personnel need to participate simultaneously, which increases the coordination difficulty and reduces the efficiency. Moreover, improper coordination may cause safety accidents.

[0003] In view of the need for aerial angle adjustment of the hoist, Chinese Patent “Crane Hoist Angle Adjustable Crane Hoist Frame” (Publication No. CN119460993A, Publication Date 2024.11.11) uses a motor to drive a bevel gear, the bevel gear meshes with a gear ring, and finally the gear ring drives the hoist to rotate. Chinese Patent “Container Gantry Crane Hoist Rotating Device” (Publication No. CN222665212U, Publication Date 2024.06.19) uses ordinary gear reduction transmission, and the output shaft of the reduction box directly drives the hoist to rotate. However, both of the above-mentioned patent documents set the crane hook as a fixed member and use a direct driving method, in which the input power directly drives the hoist to rotate. However, the crane hook is located at the end of the crane steel wire rope. The reverse torque generated during the rotation of the hoist causes the steel wire rope to twist, resulting in uncontrollable swinging of the hook and the hoist in the air. Not only can the turning angle of the hoist not be accurately controlled, but also safety hazards may be caused by the falling of the hoist. On the other hand, during the high-altitude hoisting process of the crane, due to the long length of the steel wire rope, the hoist ring and the hoist may swing in the air due to external wind load, which increases the difficulty of positioning the hoist when it falls off the hook and the safety hazards caused by the falling of the hoist.

[0004] Therefore, it is a technical problem to be solved for the crane hoisting that the stability during the aerial movement of the hoist of the crane, including the wind load resistance and the stability of the hoist angle control, be improved, so as to improve the hoisting efficiency and safety of the crane. SUMMARY

[0005] The application aims to provide an active control device for stable aerial turning of a crane hoisting object, and solve the problems of insufficient stability and safety in the process of aerial angle control of the crane hoisting object in the prior art.

[0006] The application adopts the technical scheme of an active control device for stable aerial turning of a crane hoisting object, wherein an outer frame adopts a layered truss structure, and upper, middle and lower platforms are fixedly installed from top to bottom; an upper layer lifting ring is installed at the center of the upper platform, and the upper layer lifting ring is hooked with a crane hook upward; a motor and a motor controller and a double-output planetary gear assembly are installed on the middle platform; a centrifugal blade compound flywheel is installed at the center of the upper surface of the lower platform; the motor controls the rotation of the centrifugal blade compound flywheel by using the double-output planetary gear assembly, and two lower lifting rings and a network camera are installed on the lower surface of the lower platform.

[0007] The active control device for stable aerial turning of a crane hoisting object of the application has the following characteristics: A through hole one is formed at the center of the upper platform, a bearing seat is installed in the through hole one, a pair of tapered roller bearings are arranged in the bearing seat, a supporting rod is jointly sleeved in the pair of tapered roller bearings, the top of the supporting rod is integrally fixedly connected with the upper layer lifting ring, and a nut is installed at the lower end of the supporting rod.

[0008] A through hole two is formed at the center of the middle platform, a double-output planetary gear assembly is installed on the through hole two, a connecting bracket is coaxially fixed upward on the outer ring of the double-output planetary gear assembly, a motor is fixedly installed at the top of the connecting bracket, and the motor is provided with a motor controller; the motor shaft of the motor is downwardly and drivingly connected with a power input shaft of the double-output planetary gear assembly through an elastic coupling; an output shaft of the double-output planetary gear assembly downwardly penetrates the through hole two and is in transmission connection with the centrifugal blade compound flywheel.

[0009] A seat outer spherical bearing is installed at the center of the upper surface of the lower platform, the seat outer spherical bearing upwardly supports a lower end flange of the centrifugal blade compound flywheel, and an upper end flange of the centrifugal blade compound flywheel is in transmission connection with the output shaft of the double-output planetary gear assembly upwardly.

[0010] The structure of the double-output planetary gear assembly comprises a box body, the box body is integrated by an upper box body, a gear ring and a lower box body; a upper bearing seat is fixedly installed at the center of the outer end face of the upper box body, and a lower bearing seat is fixedly installed at the center of the outer end face of the lower box body; The space in the box body is arranged with a planet carrier, which comprises an upper planet carrier plate and a lower planet carrier plate, the upper planet carrier plate is supported in the upper bearing seat, and the lower planet carrier plate is supported in the lower bearing seat; three planet wheel shafts are fixedly connected between the upper planet carrier plate and the lower planet carrier plate, and one planet wheel is sleeved on each planet wheel shaft; the three planet wheels are respectively engaged with the ring gear, and a sun gear is engaged in the internal space surrounded by the three planet wheels, the sun gear is fixed on the input shaft; each planet wheel is engaged with the sun gear and the ring gear; the input shaft is supported at both ends in the upper planet carrier plate and the lower planet carrier plate; the input shaft extends upward out of the upper bearing seat and is drivingly connected with the elastic coupling; the output shaft is fixed on the lower end surface of the lower planet carrier plate, and the output shaft extends downward out of the lower bearing seat and is drivingly connected with the centrifugal vane compound flywheel below.

[0011] The upper planet carrier plate is supported in the upper bearing seat through a bearing B, and the lower planet carrier plate is supported in the lower bearing seat through another bearing B; each planet wheel shaft is sleeved with one planet wheel through a pair of bearings C, and the two ends of the bearing C are axially limited by bearing retainer rings; the sun gear is fixed on the input shaft through a shaft shoulder and a bearing retainer ring; the input shaft is supported at both ends in the upper planet carrier plate and the lower planet carrier plate through bearings A, and the two ends of the bearing A are respectively provided with elastic retainer rings and lock nuts.

[0012] The upper box body is buckled on the upper surface of the disc-shaped mounting edge of the ring gear, the lower box body is buckled on the lower surface of the disc-shaped mounting edge of the ring gear, bolt mounting holes are formed in the disc-shaped mounting edge, and the upper box body and the lower box body are coaxially buckled on the ring gear from the upper and lower surfaces and are fixedly connected into an integrated body by a circle of bolts, and the entire box body is further lapped and fixed on the middle layer platform of the outer frame.

[0013] The centrifugal vane compound flywheel comprises a mandrel, an upper end flange is fixedly sleeved on the upper end head of the mandrel, an upper flywheel is fixed on the inner end surface of the upper end flange, symmetrically, a lower end flange is fixedly sleeved on the lower end head of the mandrel, and a lower flywheel is fixed on the inner surface of the lower end flange; a plurality of fixed vanes are fixedly arranged along the circumference between the upper flywheel and the lower flywheel. A pair of guide rails is arranged on each fixed vane in the radial direction, two radial sliders are arranged in each guide rail, and the four radial sliders on the fixed vane are jointly connected with an expansion vane.

[0014] The inner end of each expansion vane is hinged to an outer hinge point of a scissors arm, the two inner hinge points of the scissors arm are respectively hinged to an axial slider, the two axial sliders are spaced apart and sleeved on the mandrel, a spring support is fixed in the middle segment of the mandrel, and the two axial sliders are respectively hooked and connected with the spring support through a return spring.

[0015] The upper end flange is drivingly connected with the output shaft of the double-output planetary gear assembly through a key, and the lower end flange of the centrifugal vane compound flywheel is supported in the outer spherical surface bearing on the lower layer platform of the outer frame.

[0016] The beneficial effects of the present application include the following aspects: (1) the double-output planetary gear assembly is combined with the centrifugal blade compound flywheel to realize fluid reaction indirect transmission, the impeller of the centrifugal blade compound flywheel interacts with air to realize indirect driving and braking of the hoisted object, compared with the direct transmission of "motor-reducer-hoisted object", the device can avoid inertia impact of starting and stopping of large load, reduce vibration, ensure stable operation of the hoisted object, and has overload protection function; (2) since the input and output of the device are connected in a non-rigid manner, the centrifugal blade compound flywheel can rely on its own moment of inertia, based on the law of conservation of angular momentum, the instantaneous attitude fluctuation and speed mutation of the rotating shaft are inhibited, the directional stability of the rotating shaft of the device is effectively maintained, and the safety of the hoisting operation is improved; (3) the remote non-contact control mode of the device avoids direct contact of the operator with the hoisted object, improves the safety, and reduces the labor intensity; (4) the centrifugal telescopic blade structure adopted by the device can adjust the length of the radial extension in real time when the rotating speed of the flywheel changes with the hoisting load, the stability and reliability of the fluid transmission are ensured, and the driving capacity of the device is improved; and the centrifugal telescopic blade of the centrifugal blade compound flywheel does not need additional power driving, the automatic telescoping of the blade with the rotating speed is realized through the dynamic balance of centrifugal force and return spring, the control logic and structure design are simplified, and the equipment manufacturing cost and maintenance difficulty are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a schematic diagram of a traditional direct driving mode; Figure 2 is a schematic diagram of the hoisting working state of the device of the present application; Figure 3 is a schematic diagram of the overall structure of the device of the present application; Figure 4 is a schematic diagram of the indirect transmission principle of the device of the present application; Figure 5 is a schematic diagram of the structure of the double-output planetary gear assembly in the device of the present application; Figure 6 is a schematic diagram of the structure of the centrifugal blade compound flywheel in the device of the present application; Figure 7 is a schematic diagram of the transmission structure of the centrifugal blade compound flywheel in the device of the present application.

[0018] In the figure, 1, outer frame; 2, nut; 3, tapered roller bearing; 4, upper lifting ring; 5, bearing seat; 6, motor; 7, elastic coupling; 8, power supply; 9, connecting support; 10, double-output planetary gear assembly; 1001, upper bearing seat; 1002, upper box body; 1003, input shaft; 1004, upper planet carrier plate; 1005, ring gear; 1006, bearing A; 1007, sun gear; 1008, elastic retainer; 1009, locking nut; 1010, bearing retainer; 1011, lower planet carrier plate; 1012, output shaft; 1013, bearing B; 1014, lower bearing seat; 1015, lower box body; 1016, planetary gear shaft; 1017, bearing C; 1018, planetary gear; 11, network camera; 12, centrifugal blade composite flywheel; 1201, upper flywheel; 1202, fixed blade; 1203, upper end flange; 1204, axial slider; 1205, return spring; 1206, spring support; 1207, mandrel; 1208, lower flywheel; 1209, lower end flange; 1210, scissor arm; 1211, guide rail; 1212, radial slider; 1213, telescopic blade; 13, outer spherical bearing with seat; 14, protective net; 15, motor controller; 16, lower lifting ring; 17, steel wire rope; 18, crane hook; 19, lifting object; 21, bearing D; 22, rack; 23, speed reducer. DETAILED DESCRIPTION

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

[0020] Referring to Figure 1 , the structure of the traditional direct drive mode is that the upper end of the rack 22 is connected to the lower part of the upper lifting ring 4 through the bearing D 21, and the motor 6 installed inside the rack 22 drives the lifting object 19 to rotate downward through the speed reducer 23. Because there is a coupling mechanism between the lifting object 19 and the rack 22, the reaction force generated by the lifting object 19 under the drive of the motor 6 will be transmitted to the rack 22, causing the rack 22 to rotate in the opposite direction of the rotation direction of the lifting object 19. This reverse coupling causes the motion of the lifting object 19 and the rack 22 to interfere with each other, causing the lifting object 19 to rotate irregularly and unable to accurately and effectively adjust the angle of the lifting object.

[0021] Referring to Figure 2 and Figure 3It is the schematic diagram that the crane hoist object air stability steering active control device (hereinafter referred to as the device) of the application is in the hoisting operation state, the overall structure of the device is mainly including outer frame 1, motor 6, double output planetary gear assembly 10, network camera 11, centrifugal blade composite flywheel 12, protective net 14, the outer frame 1 top of the device is installed with the 360-degree rotatable upper lifting ring 4, the upper lifting ring 4 is connected with the crane hook 18 hooking upwards, the outer frame 1 bottom of the device is installed with two lower lifting rings 16, and the hoist object 19 is correspondingly hooked on the two lower lifting rings 16 by two pairs of steel wire ropes 17, the upper lifting ring 4 of the device is not rotated relative to the crane hook 18, and the outer frame 1 can be rotated relative to the upper lifting ring 4, so that the angle of the hoist object 19 is adjusted.

[0022] Referring to Figure 3 The outer frame 1 is the support framework of the whole device, the outer frame 1 adopts a layered truss structure, and is fixedly installed with upper, middle and lower three layers of platforms from top to bottom, the upper lifting ring 4 is installed at the center of the upper platform, the upper lifting ring 4 is hooked with the crane hook 18 upwards, the suspension of the outer frame 1 and the crane is realized, the motor 6 and the motor controller 15 thereof, the power supply 8 and the double output planetary gear assembly 10 are mainly installed on the middle platform, as a power input and transmission area, the centrifugal blade composite flywheel 12 is installed at the center of the upper surface of the lower platform, as a flywheel output and support area, the two lower lifting rings 16 and the network camera 11 are installed on the lower surface of the lower platform, as a load area for suspending the hoist object 19, the lower surface of the lower platform is provided with a supporting leg at each corner, and each layer of platform is rigidly connected with the truss frame beam of the outer frame 1 in a welded and / or bolted connection mode.

[0023] See Figure 3 A through hole one is formed at the center of the upper platform, a bearing seat 5 is installed in the through hole one, a pair of tapered roller bearings 3 is arranged in the bearing seat 5, a supporting rod is commonly sleeved in the pair of tapered roller bearings 3, the top of the supporting rod is integrally fixedly connected with the upper lifting ring 4, and a nut 2 is installed at the lower end of the supporting rod, so that the outer frame 1 can be smoothly rotated under the support of the pair of tapered roller bearings 3 under the condition that the upper lifting ring 4 and the crane hook 18 do not rotate relative to each other, A through hole two is formed in the center of the middle layer platform, and a double-output planetary gear assembly 10 is installed on the through hole two, the outer ring of the double-output planetary gear assembly 10 is coaxially fixed upwardly with a connecting bracket 9, the top of the connecting bracket 9 is fixedly installed with a motor 6, and the motor 6 is provided with a motor controller 15 and a power supply 8; the motor shaft of the motor 6 is downwardly connected and driven with a power input shaft of the double-output planetary gear assembly 10 through an elastic coupling 7, so as to realize smooth transmission of motor torque and effectively buffer power impact; an output shaft 1012 of the double-output planetary gear assembly 10 is downwardly connected with a centrifugal blade compound flywheel 12 through a through hole two; the motor 6 is connected with the double-output planetary gear assembly 10 through the elastic coupling 7, so as to form an integrated power input structure of "motor-coupling-transmission mechanism"; the power supply 8 provides working power for the motor 6 and the motor controller 15, and the motor controller 15 can receive control instructions of a remote controller, so as to control rotation of the motor 6, including rotation direction and rotation speed.

[0024] A seat outer spherical bearing 13 is installed on the upper surface of the lower layer platform, the seat outer spherical bearing 13 upwardly supports a lower end flange 1209 of the centrifugal blade compound flywheel 12, an upper end flange 1203 of the centrifugal blade compound flywheel 12 is upwardly connected with an output shaft 1012 of the double-output planetary gear assembly 10, and a blade part of the centrifugal blade compound flywheel 12 can rotate relative to the outer frame 1; a protective net 14 is installed around the middle layer platform and the lower layer platform, the protective net 14 is designed in a mesh structure, is used for safety protection of the centrifugal blade compound flywheel 12, and has ventilation and safety, air can smoothly pass through the mesh, and the working effect of the centrifugal blade compound flywheel 12 is not affected.

[0025] Two lower lifting rings 16 are installed on the lower surface of the lower layer platform, and the two lower lifting rings 16 are used for jointly lifting a lifting object 19 through a pair of steel wire ropes 17.

[0026] The outer frame 1 is made of high-strength structural steel, is formed into a multi-layer platform structure through welding and bolt connection, has excellent strength, can bear huge load without deformation, and simultaneously realizes spatial division of internal components and external components.

[0027] The motor 6 is a direct current motor, has fast response speed and high control precision, drives the central gear 1007 to rotate, and the central gear 1007 drives the blades of the centrifugal blade compound flywheel 12 to rotate through a planet carrier.

[0028] The network camera 11 is installed in a downward viewing angle, can monitor the state of the lifting object 19 and a construction scene below in real time, and can provide video for remote monitoring personnel through a remote platform of network transmission.

[0029] The motor controller 15 is used for receiving remote control instructions, controlling the rotating direction and rotating speed of the motor 6, and realizing non-contact control of the stable rotation of the hanging object in the air.

[0030] The network camera 11 and the motor controller 15 are both wirelessly connected with the remote control terminal. According to the preset calculation program and the image collected by the network camera 11, the remote control terminal automatically judges the angle difference between the hanging object 19 and the specified direction, controls the motor 6 in real time through the motor controller 15, and finally realizes the posture direction control of the hanging object 19. In special cases, the controller can also manually operate the motor controller 15 to control the motor 6 in an emergency.

[0031] Referring to Figure 5 The structure of the double-output planetary gear assembly 10 includes a box body, which is integrally connected by the upper box body 1002, the gear ring 1005 and the lower box body 1015 through bolts. The box body provides installation space for the transmission members of the internal planet carrier. The outer end surface of the upper box body 1002 is centrally perforated and fixedly installed with the upper bearing seat 1001. The outer end surface of the lower box body 1015 is centrally perforated and fixedly installed with the lower bearing seat 1014. Both of them are connected through bolts to play the role of sealing and supporting bearings. The space in the box body is arranged with a planet carrier, which comprises an upper planet carrier plate 1004 and a lower planet carrier plate 1011, the upper planet carrier plate 1004 is supported in the upper bearing seat 1001 through a bearing B1013, the lower planet carrier plate 1011 is supported in the lower bearing seat 1014 through another bearing B1013, and the planet carrier as a whole can rotate around the input shaft 1003; three planet wheel shafts 1016 are fixedly connected between the upper planet carrier plate 1004 and the lower planet carrier plate 1011, each planet wheel shaft 1016 is respectively sleeved with a planet wheel 1018 through a pair of bearings C1017, the bearings C1017 are axially limited by bearing retainer plates 1010 at both ends, and each planet wheel can flexibly rotate around the respective planet wheel shaft; the three planet wheels 1018 are respectively meshed with the internal teeth of the ring gear 1005, and the internal space surrounded by the three planet wheels 1018 is jointly meshed with a central gear 1007, the central gear 1007 is fixed on the input shaft 1003 through a shaft shoulder and a bearing retainer plate; each planet wheel 1018 is simultaneously meshed with the central gear 1007 and the ring gear 1005, so as to realize the rotation of the planet carrier; the input shaft 1003 is supported in the upper planet carrier plate 1004 and the lower planet carrier plate 1011 through bearings A1006 for relative rotation, the bearings A1006 are respectively provided with elastic retainer plates 1008 and lock nuts 1009 at both ends; the input shaft 1003 upwardly extends out of the upper bearing seat 1001 and is drivingly connected with the elastic coupling 7, and the input shaft 1003 accepts the driving of the motor 6 through the elastic coupling 7; the output shaft 1012 is fixed to the lower end surface of the lower planet carrier plate 1011, and the output shaft 1012 downwardly extends out of the lower bearing seat 1014 and is drivingly connected with the centrifugal blade compound flywheel 12 below.

[0032] The upper box body 1002 is buckled on the upper surface of the disc-shaped mounting edge of the ring gear 1005, the lower box body 1015 is buckled on the lower surface of the disc-shaped mounting edge of the ring gear 1005, bolt mounting holes are formed in the disc-shaped mounting edge, the upper box body 1002 and the lower box body 1015 are coaxially buckled on the ring gear 1005 from the upper and lower surfaces and are fixedly connected as a whole through a circle of bolts, and the whole box body is further lapped and fixed on the middle layer platform of the outer frame 1. The central gear 1007 is externally meshed with the three planet wheels 1018, the ring gear 1005 is internally meshed with the three planet wheels 1018, the box body is fixedly connected with the outer frame 1, the planet carrier is drivingly connected with the centrifugal blade compound flywheel 12, the input shaft 1003 drives the centrifugal blade compound flywheel 12 to rotate through the planet carrier and the output shaft 1012 thereof, and the ring gear 1005 drives the outer frame 1 and the hung object 19 hung thereon to rotate together.

[0033] Referring to Figure 6 and Figure 7, centrifugal blade composite flywheel 12 structure is, including the mandrel 1207, the upper end of the mandrel 1207 is fixedly sleeved with the upper flange 1203, the inner end surface of the upper flange 1203 is fixed with the upper flywheel 1201, symmetrically, the lower end of the mandrel 1207 is fixedly sleeved with the lower flange 1209, the inner surface of the lower flange 1209 is fixed with the lower flywheel 1208; A plurality of fixed blades 1202 are fixed uniformly along the circumference between the upper flywheel 1201 and the lower flywheel 1208, (for example, eight to twelve fixed blades 1202 are uniformly riveted by rivets), as the main support frame of the telescopic blade 1213; On each fixed blade 1202, two radial guide rails 1211 are symmetrically arranged upward and downward, two radial sliders 1212 are arranged in each guide rail 1211, and all (four) radial sliders 1212 are commonly connected with a telescopic blade 1213, which can realize radial sliding relative to the fixed blade 1202 along the guide rail 1211; Each fixed blade 1202 and the telescopic blade 1213 belonging to it are called a group of blades; The inner end of each telescopic blade 1213 is hinged with an outer hinge point of a scissors arm 1210, the two inner hinge points of the scissors arm 1210 are respectively hinged with an axial slider 1204, the two axial sliders 1204 are spaced apart and sleeved on the mandrel 1207, a spring support 1206 is fixed in the middle segment (between the two axial sliders 1204) of the mandrel 1207, and the two axial sliders 1204 are respectively connected with the spring support 1206 through a return spring 1205.

[0034] Referring to Figure 7 , the assembly state of the centrifugal blade composite flywheel 12 is that the upper flange 1203 of the centrifugal blade composite flywheel 12 is drivingly connected with the output shaft 1012 of the double-output planetary gear assembly 10 through a key, and the lower flange 1209 of the centrifugal blade composite flywheel 12 is supported in the seat outer spherical bearing 13 on the lower layer platform of the outer frame 1, so that the output shaft 1012 drives the centrifugal blade composite flywheel 12 to rotate relative to the outer frame 1, and each telescopic blade 1213 can realize radial sliding on the fixed blade 1202 according to the size of the rotating speed along the respective guide rail 1211, so as to adjust the air resistance received by the centrifugal blade composite flywheel 12.

[0035] The linkage mechanism of the above-mentioned structure of the centrifugal blade compound flywheel 12, that is, the telescopic blade-scissor arm-axial slider-reset spring, when the centrifugal blade compound flywheel 12 rotates beyond a certain speed, each telescopic blade 1213 will slide outwards along the guide rail 1211 under the action of centrifugal force, drive the axial slider 1204 through the scissor arm 1210 to compress the reset spring 1205 to realize the balance of centrifugal force; when the rotating speed of the centrifugal blade compound flywheel 12 reduces to a certain speed, the elastic restoring force of the reset spring 1205 reversely pulls the telescopic blade 1213 to retract along the guide rail 1211 through the axial slider 1204 and the scissor arm 1210, and through the above-mentioned linkage mechanism, the self-adaptive adjustment of the centrifugal blade compound flywheel 12 and the air fluid force is realized.

[0036] The centrifugal blade compound flywheel 12 integrates the core functional characteristics of the flywheel and the impeller: first, the power transmission is realized through the fluid dynamics interaction of multiple groups of blades (multiple fixed blades 1202 and telescopic blades 1213) and air; second, the dynamic stability in the running process of the lifting device is improved relying on the angular momentum conservation principle in the rotating state, the output shaft of the upper flange 1203 and the double-output planetary gear assembly 10 is connected through a key to realize the motion transmission; the lower flange 1209 is installed on the seat outer spherical bearing 13 of the lower platform, has the automatic alignment function, and ensures that the centrifugal blade compound flywheel 12 and the outer frame 1 realize the relatively flexible rotation; when the rotating speed of the centrifugal blade compound flywheel 12 exceeds a certain value, the telescopic blade 1213 extends outwards along the guide rail under the action of centrifugal force, drives the axial slider 1204 through the scissor arm 1210, and then compresses the reset spring 1205 to realize energy storage; when the rotating speed reduces, the elastic force of the reset spring 1205 is reversely transmitted through the axial slider 1204 and the scissor arm 1210 to drive the telescopic blade 1213 to automatically retract, forming a stable centrifugal-elastic reset closed loop, which not only ensures the overall strength of the structure, but also realizes the automatic adjustment of the flywheel rotational inertia with the suspended object.

[0037] The working principle of the device is as follows: Referring to Figure 4The present application is the schematic diagram of the indirect transmission of the device, the main transmission components of the device are motor 6, double output planetary gear assembly 10, centrifugal blade compound flywheel 12, outer frame 1 is the support of the whole structure, the central gear 1007 of the double output planetary gear assembly 10 is the input end driven by the motor 6, the planet carrier and the gear ring 1005 are two output ends connected with the centrifugal blade compound flywheel 12 and the hanging object 19 respectively; the central gear 1007 drives the planet carrier to rotate through gear meshing, the output shaft 1012 of the planet carrier drives the centrifugal blade compound flywheel 12 to rotate, a plurality of blades interact with air fluid to generate a reaction torque, according to the planetary gear transmission principle, as the controlled reaction torque received by the planet carrier increases, the gear ring 1005 will drive the outer frame 1 connected therewith to drive the hanging object 19 to rotate in the opposite direction of the rotation direction of the blades.

[0038] According to the working principle of the double output planetary gear transmission, in the starting stage, when a plurality of blades rotate at low speed, the air resistance generated by each blade is small, the planet carrier has low load, and the gear ring 1005 and the outer frame 1 are integrally connected with the hanging object 19 which has large inertia, at this time, the planet carrier starts to accelerate rotation preferentially, and the flywheel continues to accelerate to store energy; as the rotation speed increases, each telescopic blade 1213 synchronously extends along the radial direction, so that the air resistance torque increases sharply, the load of the planet carrier increases, and the air resistance torque is reacted to the gear ring 1005 through the planet carrier and the planet wheel, when the resistance torque is sufficient to overcome the inertia and friction resistance of the gear ring 1005, the outer frame 1 and the hanging object 19, the planet wheel system adjusts the power distribution to drive the gear ring 1005 to rotate stably together with the outer frame 1 and the hanging object 19; in the deceleration braking stage, the rotation speed of the plurality of blades decreases, and since the hanging object 19 and the plurality of blades rotate in opposite directions, the centrifugal blade compound flywheel 12 will apply a reverse braking torque to the hanging object 19, effectively inhibiting the inertial rotation of the hanging object 19, so that the hanging object 19 can be decelerated smoothly and without impact in a short time and stopped. When the load of the hanging object 19 increases, the rotation speed of the plurality of blades increases, and the telescopic blade 1213 slidingly installed on the fixed blade 1202 moves outward along the radial direction under the action of centrifugal force, so that the air fluid resistance increases rapidly, improving the driving load capacity of the device. When the hanging object 19 stops rotating, due to the indirect transmission of the motor input and the hanging object rotation output, the centrifugal blade compound flywheel 12 always remains in a rotating state, stores rotational kinetic energy, and forms a directional angular momentum along the device rotation axis direction. Based on the gyroscope angular momentum conservation principle, the stability of the angular momentum can maintain the device rotation axis posture, improve the ability of the hanging object 19 to resist external disturbances such as wind load in the air, and thus improve the stability of the hanging object 19.

[0039] In the device, the motor 6 controls the rotation of the centrifugal blade compound flywheel 12 through the double output planetary gear assembly 10, and realizes three modes of forward rotation, reverse rotation and braking of the hanging object 19 in the air through air coupling, which will be specifically described as follows: Mode 1: Adjust the angle of the suspended object counterclockwise. The motor controller 15 receives remote control commands from the outside and controls the motor 6 to rotate clockwise. This rotation, via the flexible coupling 7, drives the central gear 1007 of the dual-output planetary gear assembly 10 to rotate clockwise. The central gear 1007 meshes with the planetary gears 1018, driving the output shaft 1012 to rotate, which in turn causes the centrifugal blade compound flywheel 12 to rotate clockwise. When the motor 6 reaches a certain speed, the radial extension of the telescopic blades 1213 in the centrifugal blade compound flywheel 12 encounters significant air resistance. According to the planetary gear transmission principle, this resistance acts on the gear ring 1005. Therefore, the gear ring 1005 drives the outer frame 1 to achieve counter-clockwise angle adjustment of the suspended object.

[0040] Mode 2: Adjust the angle of the suspended object clockwise: The motor controller 15 receives remote control commands from the outside world and controls the motor 6 to rotate counterclockwise. This rotation, via the flexible coupling 7, drives the central gear 1007 of the dual-output planetary gear assembly 10 to rotate counterclockwise, causing the centrifugal blade compound flywheel 12 to rotate counterclockwise. When the motor 6 reaches a certain speed, the telescopic blades 1213 in the centrifugal blade compound flywheel 12 extend and, under the reaction force of air resistance, act on the gear ring 1005, thus achieving clockwise angle adjustment of the suspended object.

[0041] Mode 3: Braking and Stabilization of Suspended Loads: When the speed of motor 6 decreases, the speed of centrifugal blade compound flywheel 12 also decreases. At this time, the gear ring 1005 tends to continue rotating due to the inertial force of the suspended object. However, since the speed of centrifugal blade compound flywheel 12 is opposite to that of the suspended object, the kinetic energy stored in centrifugal blade compound flywheel 12 will prevent the gear ring 1005 from continuing to rotate, allowing the suspended object 19 to decelerate and stop rotating smoothly and without impact in a short time. Due to the indirect transmission of this device, after the suspended object 19 stops rotating, the centrifugal blade compound flywheel 12 continues to rotate. According to the principle of gyroscope, the rotational kinetic energy of centrifugal blade compound flywheel 12 can resist the effect of external wind load, thus stabilizing the suspended object.

[0042] In summary, the fluid reaction indirect transmission device provided by this invention utilizes the interaction between a centrifugal blade composite flywheel and air, as well as the energy storage of the flywheel, to achieve smooth rotation and braking of the suspended load. This indirect method can avoid the inertial impact of large or heavy loads, ensuring the stability and durability of the device. When the load stops rotating, the centrifugal blade composite flywheel continues to rotate, generating directional angular momentum along the axis of rotation. Based on the principle of gyroscopes, this helps maintain the stability of the device's axis of rotation, which is beneficial for the suspended load to resist vibrations caused by environmental wind loads, thereby improving the smoothness of the load's movement and enhancing the safety and efficiency of lifting operations. The centrifugal telescopic blade structure used in this device allows for real-time adjustment of the extension length of the telescopic blades 1213 as the flywheel speed changes with the lifting load, ensuring the stability and reliability of fluid transmission and improving the device's driving capability. The device of this invention has a simple structure, reducing equipment manufacturing costs and maintenance difficulty. Finally, the device of this invention utilizes the speed reduction and torque amplification effect of planetary gear transmission to control the movement of large loads via a remote-controlled small-torque motor, avoiding personnel contact with the load, reducing labor costs for manual operation, and improving safety.

[0043] Example 1 The structure of this embodiment 1 is as follows: the outer frame 1 adopts a layered truss structure, with three fixed platforms (upper, middle, and lower) installed from top to bottom; an upper lifting ring 4 is installed at the center of the upper platform, and the upper lifting ring 4 is hooked upward to the crane hook 18; a motor 6 and its motor controller 15, and a dual-output planetary gear assembly 10 are installed on the middle platform; a centrifugal blade composite flywheel 12 is installed at the center of the upper surface of the lower platform; the motor 6 controls the rotation of the centrifugal blade composite flywheel 12 using the dual-output planetary gear assembly 10; and two lower lifting rings 16 and a network camera 11 are installed on the lower surface of the lower platform.

[0044] A through hole is opened in the center of the upper platform. A bearing seat 5 is installed in the through hole. A pair of tapered roller bearings 3 are installed in the bearing seat 5. A support rod is installed in the pair of tapered roller bearings 3. The top of the support rod is integrally fixedly connected to the upper lifting ring 4. A nut 2 is installed at the lower end of the support rod.

[0045] A through hole two is opened in the center of the middle platform. A dual-output planetary gear assembly 10 is installed on the through hole two. A connecting bracket 9 is fixed coaxially upward on the outer ring of the dual-output planetary gear assembly 10. A motor 6 is fixedly installed on the top of the connecting bracket 9. The motor 6 is equipped with a motor controller 15 and a power supply 8. The motor shaft of the motor 6 is driven and connected downward to the power input shaft of the dual-output planetary gear assembly 10 through a flexible coupling 7. The output shaft 1012 of the dual-output planetary gear assembly 10 passes downward through the through hole two and is connected to the centrifugal blade compound flywheel 12 for transmission.

[0046] A mounted outer spherical bearing 13 is installed at the center of the upper surface of the lower platform. The mounted outer spherical bearing 13 supports the lower flange 1209 of the centrifugal blade compound flywheel 12. The upper flange 1203 of the centrifugal blade compound flywheel 12 is connected to the output shaft 1012 of the dual-output planetary gear assembly 10.

[0047] Example 2 The structure of this embodiment 2 is based on that of embodiment 1, and further includes the structure of the dual-output planetary gear assembly 10, which includes a housing. The housing is composed of an upper housing 1002, a gear ring 1005, and a lower housing 1015 connected together by bolts. The housing provides mounting support for the internal transmission components of the dual-output planetary gear assembly 10. An upper bearing seat 1001 is fixedly installed in the center hole of the outer end face of the upper housing 1002, and a lower bearing seat 1014 is fixedly installed in the center hole of the outer end face of the lower housing 1015. A planetary carrier is arranged within the space inside the housing. The planetary carrier includes an upper planetary carrier plate 1004 and a lower planetary carrier plate 1011. The upper planetary carrier plate 1004 is supported in an upper bearing housing 1001, and the lower planetary carrier plate 1011 is supported in a lower bearing housing 1014. Three planetary gear shafts 1016 are fixedly connected between the upper planetary carrier plate 1004 and the lower planetary carrier plate 1011. Each planetary gear shaft 1016 is fitted with a planetary gear 1018. The three planetary gears 1018 mesh with a gear ring 1005, and a common meshing point is located within the internal space enclosed by the three planetary gears 1018. A central gear 1007 is fixed on the input shaft 1003; each planetary gear 1018 meshes with the central gear 1007 and the inner circumferential teeth of the gear ring 1005; the input shaft 1003 is supported at both ends in the upper planetary carrier plate 1004 and the lower planetary carrier plate 1011; the input shaft 1003 extends upward out of the upper bearing seat 1001 and is connected to the flexible coupling 7 for transmission; the lower end face of the lower planetary carrier plate 1011 is fixed with an output shaft 1012, which extends downward out of the lower bearing seat 1014 and is connected to the centrifugal blade compound flywheel 12 below for transmission.

[0048] Control the load in Mode 1 and adjust the angle counterclockwise: The motor controller 15 receives remote control commands from the outside and controls the motor 6 to rotate clockwise. This rotation, via the flexible coupling 7, drives the central gear 1007 of the dual-output planetary gear assembly 10 to rotate clockwise. The central gear 1007 meshes with the planetary gears 1018, driving the output shaft 1012 to rotate, which in turn causes the centrifugal blade compound flywheel 12 to rotate clockwise. When the motor 6 reaches a certain speed, the radial extension of the telescopic blades 1213 in the centrifugal blade compound flywheel 12 encounters significant air resistance. According to the planetary gear transmission principle, this resistance acts on the gear ring 1005. Therefore, the gear ring 1005 drives the outer frame 1 to achieve counter-clockwise angle adjustment of the suspended object.

[0049] Example 3 The structure of this embodiment 3 is based on that of embodiment 2, and further includes: the upper planetary carrier plate 1004 is supported in the upper bearing housing 1001 by a bearing B1013, and the lower planetary carrier plate 1011 is supported in the lower bearing housing 1014 by another bearing B1013; each planetary gear shaft 1016 is fitted with a planetary gear 1018 by a pair of bearings C1017, and the two ends of the bearings C1017 are axially limited by bearing retaining rings 1010; the central gear 1007 is fixed to the input shaft 1003 by a shaft shoulder and bearing retaining rings; the two ends of the input shaft 1003 are supported in the upper planetary carrier plate 1004 and the lower planetary carrier plate 1011 by bearings A1006, and the two ends of the bearings A1006 are respectively provided with elastic retaining rings 1008 and locking nuts 1009.

[0050] Control the load in Mode 2 and adjust the angle clockwise: The motor controller 15 receives remote control commands from the outside world and controls the motor 6 to rotate counterclockwise. This rotation, via the flexible coupling 7, drives the central gear 1007 of the dual-output planetary gear assembly 10 to rotate counterclockwise, causing the centrifugal blade compound flywheel 12 to rotate counterclockwise. When the motor 6 reaches a certain speed, the telescopic blades 1213 in the centrifugal blade compound flywheel 12 extend radially and, due to air resistance, react on the gear ring 1005, thus achieving clockwise angle adjustment of the suspended object.

[0051] Example 4 The structure of this embodiment 4 is based on embodiment 3, and further includes an upper box 1002 fastened to the upper surface of the disc-shaped mounting edge of the gear ring 1005, and a lower box 1015 fastened to the lower surface of the disc-shaped mounting edge of the gear ring 1005. The disc-shaped mounting edge has bolt mounting holes. The upper box 1002 and the lower box 1015 are coaxially fastened to the gear ring 1005 from the upper and lower sides and then fixed together by a ring of bolts. The entire box is then overlapped and fixed on the middle platform of the outer frame 1.

[0052] Control and stabilization of the suspended load according to Mode 3: When the speed of motor 6 decreases, the speed of centrifugal blade compound flywheel 12 also decreases. At this time, the gear ring 1005 tends to continue rotating due to the inertial force of the suspended object. However, since the speed of centrifugal blade compound flywheel 12 is opposite to that of the suspended object, the kinetic energy stored in centrifugal blade compound flywheel 12 will prevent the gear ring 1005 from continuing to rotate, allowing the suspended object 19 to decelerate and stop rotating smoothly and without impact in a short time. Due to the indirect transmission of this device, after the suspended object 19 stops rotating, the centrifugal blade compound flywheel 12 continues to rotate. According to the principle of gyroscope, the rotational kinetic energy of centrifugal blade compound flywheel 12 can resist the effect of external wind load, thus stabilizing the suspended object.

[0053] Example 5 The structure of this embodiment 5 is based on that of embodiment 4, and further includes the following: the structure of the centrifugal blade composite flywheel 12 includes a spindle 1207, an upper flange 1203 fixedly fitted at the upper end of the spindle 1207, an upper flywheel 1201 fixedly fitted on the inner end face of the upper flange 1203, and symmetrically fitted at the lower end of the spindle 1207 with a lower flange 1209 fixedly fitted on the inner surface of the lower flange 1209; a plurality of fixed blades 1202 are evenly fixed along the circumference between the upper flywheel 1201 and the lower flywheel 1208, serving as the main support frame for the telescopic blade 1213. Each fixed blade 1202 is provided with a pair of guide rails 1211 (one on the top and one on the bottom symmetrically), and each guide rail 1211 is provided with two radial sliders 1212. The four radial sliders 1212 on the fixed blade 1202 are connected to a telescopic blade 1213.

[0054] Example 6 The structure of this embodiment 6 is based on that of embodiment 5, and further includes that the inner end of each telescopic blade 1213 is hinged to an outer hinge point of a scissor arm 1210, and the two inner hinge points of the scissor arm 1210 are respectively hinged to an axial slider 1204. The two axial sliders 1204 are spaced apart and mounted on the spindle 1207. A spring support 1206 is fixed in the middle section of the spindle 1207. The two axial sliders 1204 are respectively hooked to the spring support 1206 through a return spring 1205.

Claims

1. An active control device for the aerial stabilisation and steering of a load by a crane, characterised in that: The outer frame (1) adopts a layered truss structure, and is fixedly installed with upper, middle and lower three layers of platforms from top to bottom; the upper layer platform is installed with an upper layer lifting ring (4) at the center part, the upper layer lifting ring (4) is hooked with a crane hook (18) upward; the middle layer platform is installed with a motor (6), a motor controller (15) thereof, and a double-output planetary gear assembly (10); the upper surface of the lower layer platform is installed with a centrifugal blade compound flywheel (12) at the center part; the motor (6) controls the rotation of the centrifugal blade compound flywheel (12) by using the double-output planetary gear assembly (10), and the lower surface of the lower layer platform is installed with two lower lifting rings (16) and a network camera (11).

2. Active control device for airborne stabilisation and turning of a load of a crane according to claim 1, characterised in that: The center part of the upper layer platform is provided with a through hole one, a bearing seat (5) is installed in the through hole one, a pair of tapered roller bearings (3) are arranged in the bearing seat (5), a supporting rod is jointly sleeved in the pair of tapered roller bearings (3), the top of the supporting rod is integrally fixedly connected with the upper layer lifting ring (4), and a nut (2) is installed at the lower end of the supporting rod.

3. Active control device for the airborne stabilisation of a load being hoisted by a crane according to claim 1, characterised in that: The center part of the middle layer platform is provided with a through hole two, the double-output planetary gear assembly (10) is installed on the through hole two in correspondence, the outer ring of the double-output planetary gear assembly (10) is fixedly connected with a connecting bracket (9) in a same shaft direction upward, the top of the connecting bracket (9) is fixedly installed with the motor (6), and the motor (6) is provided with a motor controller (15); the motor shaft of the motor (6) is drivingly connected with the power input shaft of the double-output planetary gear assembly (10) downward through an elastic coupling (7); the output shaft (1012) of the double-output planetary gear assembly (10) penetrates out of the through hole two downward and is in transmission connection with the centrifugal blade compound flywheel (12).

4. Active control device for the airborne stabilisation of a load being hoisted by a crane according to claim 1, characterised in that: The center part of the upper surface of the lower layer platform is installed with a seat outer spherical bearing (13), the lower end flange (1209) of the centrifugal blade compound flywheel (12) is supported upward by the seat outer spherical bearing (13), and the upper end flange (1203) of the centrifugal blade compound flywheel (12) is in transmission connection with the output shaft (1012) of the double-output planetary gear assembly (10) upward.

5. The active control device for the airborne stabilizing turning of a hoisted object of a crane according to claim 1, characterized in that: The double-output planetary gear assembly (10) comprises a box body, the box body is connected into an integrated whole by an upper box body (1002), a gear ring (1005) and a lower box body (1015); the outer end face center of the upper box body (1002) is provided with a hole and is fixedly installed with an upper bearing seat (1001), and the outer end face center of the lower box body (1015) is provided with a hole and is fixedly installed with a lower bearing seat (1014); The space in the box is arranged with a planet carrier, the planet carrier comprises an upper planet carrier plate (1004) and a lower planet carrier plate (1011), the upper planet carrier plate (1004) is supported in the upper bearing seat (1001), and the lower planet carrier plate (1011) is supported in the lower bearing seat (1014); three planet wheel shafts (1016) are fixedly connected between the upper planet carrier plate (1004) and the lower planet carrier plate (1011), and one planet wheel (1018) is sleeved on each planet wheel shaft (1016); the three planet wheels (1018) are respectively meshed with the ring gear (1005), and the internal space surrounded by the three planet wheels (1018) is jointly meshed with a central gear (1007), the central gear (1007) is fixed on the input shaft (1003); each planet wheel (1018) is meshed with the central gear (1007) and the ring gear (1005) at the same time; the input shaft (1003) is supported at both ends in the upper planet carrier plate (1004) and the lower planet carrier plate (1011); the input shaft (1003) extends upwards out of the upper bearing seat (1001) and is in driving connection with the elastic coupling (7); the lower end surface of the lower planet carrier plate (1011) is fixed with an output shaft (1012), and the output shaft (1012) extends downwards out of the lower bearing seat (1014) and is in driving connection with the lower centrifugal vane composite flywheel (12).

6. Active control device for the airborne stabilisation of a load being hoisted by a crane according to claim 5, characterised in that: The upper planet carrier plate (1004) is supported in the upper bearing seat (1001) through a bearing B (1013), the lower planet carrier plate (1011) is supported in the lower bearing seat (1014) through another bearing B (1013); each planet wheel shaft (1016) is respectively sleeved with a planet wheel (1018) through a pair of bearings C (1017), and the two ends of the bearing C (1017) are axially limited by bearing retainer rings (1010); the central gear (1007) is fixed on the input shaft (1003) through a shaft shoulder and a bearing retainer ring; the two ends of the input shaft (1003) are supported in the upper planet carrier plate (1004) and the lower planet carrier plate (1011) through bearings A (1006), and the two ends of the bearing A (1006) are respectively provided with elastic retainer rings (1008) and lock nuts (1009).

7. The active control device for the airborne stabilizing turning of a hoisted object of a crane according to claim 5, characterized in that: The upper box (1002) is buckled on the upper surface of the disc-shaped mounting edge of the ring gear (1005), the lower box (1015) is buckled on the lower surface of the disc-shaped mounting edge of the ring gear (1005), bolt mounting holes are formed in the disc-shaped mounting edge, and the upper box (1002) and the lower box (1015) are coaxially buckled from the upper and lower surfaces and fixedly connected as a whole through a circle of bolts after being buckled on the ring gear (1005), and the whole box is further lapped and fixed on the middle layer platform of the outer frame (1).

8. The active control device for the airborne stabilizing turning of a hoisted object of a crane according to claim 1, characterized in that: The centrifugal type blade composite flywheel (12) comprises a mandrel (1207), an upper end flange (1203) fixedly sleeved on the upper end of the mandrel (1207), an upper flywheel (1201) fixed on the inner end surface of the upper end flange (1203), symmetrically, a lower end flange (1209) fixedly sleeved on the lower end of the mandrel (1207), and a lower flywheel (1208) fixed on the inner surface of the lower end flange (1209); a plurality of fixed blades (1202) are fixedly arranged along the circumference between the upper flywheel (1201) and the lower flywheel (1208); A pair of guide rails (1211) are arranged on each fixed blade (1202) in the radial direction, two radial sliding blocks (1212) are arranged in each guide rail (1211), and four radial sliding blocks (1212) on the fixed blade (1202) are connected with one telescopic blade (1213).

9. Active control device for the airborne stabilisation of a load being hoisted by a crane according to claim 8, characterised in that: The inner end of each telescopic blade (1213) is hingedly connected with an outer hinge point of a scissors arm (1210), the two inner hinge points of the scissors arm (1210) are respectively hingedly connected with an axial sliding block (1204), the two axial sliding blocks (1204) are sleeved on the mandrel (1207) at intervals, a spring support (1206) is fixed on the middle segment of the mandrel (1207), and the two axial sliding blocks (1204) are respectively connected with the spring support (1206) through a return spring (1205).

10. Active control device for the airborne stabilisation of a load being hoisted by a crane according to claim 9, characterised in that: The upper end flange (1203) is in transmission connection with the output shaft (1012) of the double-output planetary gear assembly (10) through a key, and the lower end flange (1209) of the centrifugal type blade composite flywheel (12) is supported in the seat outer spherical bearing (13) on the lower layer platform of the outer frame (1).

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