Anti-swing device for unmanned crane hoisting

Abstract

The application discloses an anti-swing device for hoisting of an unmanned crane, and belongs to the technical field of cranes, which comprises a mobile bridge and a stabilizing frame, the stabilizing frame is movably arranged below the mobile bridge, mobile frames are movably arranged at the lower parts of the two ends of the mobile bridge, slide rails are arranged at the bottoms of the mobile frames, the two ends of the stabilizing frame are movably connected with the mobile frames, synchronous slide seats used in cooperation with driving seats are movably arranged at the inner sides of the stabilizing frame, the synchronous slide seats are located directly below the driving seats, sleeve pieces are fixedly arranged at the inner sides of the synchronous slide seats, hoisting cables are movably arranged at the lower parts of the driving seats, and fixed clamping heads are fixedly arranged at the bottom positions of the outer surfaces of the hoisting cables. The anti-swing device has a full-range synchronous anti-swing structure, can move along with hoisted objects, greatly suppresses the swing of the hoisted objects during starting, stopping and running, and thus remarkably shortens the waiting time of the hoisting devices and improves the cycle efficiency and throughput of the full-automatic operation.

Description

Technical Field

[0001] This invention belongs to the field of crane-related technology, specifically an anti-sway device for unmanned crane hoisting. Background Technology

[0002] Unmanned cranes are a new type of material handling equipment that integrates automated control, intelligent sensing, and remote scheduling technologies. They can autonomously complete lifting tasks without relying on manual driving or ground remote control. Their core architecture typically consists of an intelligent crane body, a multi-source sensing system, an edge and cloud control system, and a safety interlocking module. Through devices such as LiDAR, encoders, vision cameras, and tilt sensors, they acquire real-time information on the position of the lifting device, load status, operating path, and environmental obstacles. Combined with path planning algorithms and anti-sway control strategies, they achieve precise positioning and stable operation of goods from picking up to unloading.

[0003] Patent document CN114148880A describes an unmanned automated steel coil handling crane, including an upper beam, a main beam between two upper beams, a trolley traveling mechanism and a stroke detection device mounted at the ends of the two upper beams, a lifting trolley above the two main beams, the lifting trolley including a horizontally arranged trolley frame, a trolley traveling mechanism at each of the four corners of the bottom of the trolley frame, a first lifting mechanism and a second lifting mechanism symmetrically arranged on the lifting trolley, a lifting device for lifting steel coils below the lifting trolley, the lifting device including a support frame, an upper support beam below the support frame, a lower support beam directly below the upper support beam, and a data transmission module next to the stroke detection device.

[0004] Existing unmanned cranes have certain shortcomings in use. The aforementioned unmanned cranes do not have anti-sway structures. When the objects being lifted by the unmanned crane sway significantly, it will cause multiple hazards: First, it reduces the repeatability of the positioning accuracy between the lifting device and the target, prolongs the alignment time, and seriously restricts the efficiency of fully automated operation. Second, it increases the dynamic additional load and alternating stress on the lifting slings and steel structure, which can easily accelerate metal fatigue, loosen bolts, and even cause safety accidents such as rope breakage and hook detachment. Third, the swaying load may collide with surrounding equipment, shelves, workpieces, or personnel, causing equipment damage or safety accidents in narrow or high-temperature and high-risk environments (such as steelmaking and nuclear power plants). Fourth, the sway angle feedback interferes with the visual recognition and ranging system, affects the stability of closed-loop anti-sway and path planning, increases the difficulty of the control system to correct deviations, may lead to operation interruption or require manual intervention, and weakens the reliability of unmanned operation. Summary of the Invention

[0005] This invention provides an anti-sway device for unmanned cranes, which solves the problems of traditional unmanned cranes lacking anti-sway structures, prolonging alignment time, severely restricting the efficiency of fully automated operations, causing bolts to loosen, and even leading to safety accidents such as rope breakage and hook detachment. Furthermore, the swaying load may collide with surrounding equipment, shelves, workpieces, or personnel, causing equipment damage or safety accidents in confined or high-temperature and high-risk environments (such as steelmaking and nuclear power plants). An anti-sway device for hoisting with an unmanned crane includes a movable bridge and a stabilizer. The stabilizer is movably installed below the movable bridge. Movable frames are fixedly installed at the lower positions of both ends of the movable bridge. The bottom of the movable frames is provided with slide rails. The two ends of the stabilizer are movably connected to the movable frames. A drive seat is movably installed on the inner side of the movable bridge. A synchronous slide block for use with the drive seat is movably installed on the inner side of the stabilizer. The synchronous slide block is located directly below the drive seat. A sleeve is fixedly installed on the inner side of the synchronous slide block. A hoisting cable is movably installed at the lower part of the drive seat, and a fixing clip is fixedly installed at the bottom position of the outer surface of the hoisting cable.

[0006] As a further technical solution of the present invention, a hook is fixedly installed on the lower outer surface of the hoisting cable, and the fixing head is located on the upper part of the hook. The upper end of the fixing head has an inclined structure. By using the setting of the fixing head, the hook can be anti-sway auxiliary docking after the hook has completed the hoisting operation. When the fixing head and the limiting sleeve dock together, the swing distance of the hoisting cable is eliminated. The rigid connection between the fixing head and the limiting sleeve is used to help stabilize the hook, so that the hook is in a stable state. The setting of the inclined structure can reduce the resistance after the fixing head and the limiting sleeve dock together.

[0007] As a further technical solution of the present invention, a limiting sleeve for use with a fixing clip is fixedly installed at the middle position of the lower outer surface of the socket. The hoisting cable passes through the socket and the limiting sleeve. When the hoisting cable pulls the hook upward, the fixing clip at the upper part of the hook will engage with the limiting sleeve at the lower end of the socket. When the moving frame drives the moving bridge to transfer the hoisted object, the engagement between the fixing clip and the limiting sleeve can effectively reduce the swaying amplitude of the object at the lower end of the hoisting cable. The rigid connection plays a role in preventing swaying of the hook and the hoisting cable.

[0008] As a further technical solution of the present invention, two sets of guide wheels are movably installed on the inner side of the socket for use with the hoisting cable. The hoisting cable is located between the two sets of guide wheels. By using the guide wheels, the friction between the hoisting cable and the socket can be reduced when the hoisting cable moves up and down, thereby reducing the wear on the hoisting cable.

[0009] As a further technical solution of the present invention, both ends of the stabilizer are fixedly installed with limiting slide rods, and the inner side of the movable frame is provided with a slide groove for use with the limiting slide rods. By using the setting of the limiting slide rods, the stabilizer can move up and down along the vertical direction of the movable frame, so that the stabilizer can be adjusted accordingly according to the hoisting height of the hook.

[0010] As a further technical solution of the present invention, the inner side of the stabilizer is provided with a transverse slide groove for use with the synchronous slide. Both ends of the synchronous slide and the drive seat are provided with a driver. The driver consists of a motor and a caster. In use, the motor drives the caster to rotate through the gear, so that the drive seat and the synchronous slide move along the movable bridge and the stabilizer respectively. When the drive seat moves, the synchronous slide moves synchronously at the lower part of the drive seat.

[0011] As a further technical solution of the present invention, lifting wheels are provided at the middle of both ends of the stabilizing frame, and a toothed rail is provided in the middle of the moving frame to cooperate with the lifting wheels. The toothed rail and the lifting wheels mesh with each other. During operation, the lifting wheels are driven to rotate by a motor, so that the lifting wheels can move up and down along the toothed rail using their surface tooth structure, thereby arbitrarily adjusting the working height of the stabilizing frame. When the hook is used for hoisting operation, the stabilizing frame can follow the hook to make corresponding lifting and lowering adjustments. At the same time, the synchronous movement between the synchronous slide and the drive seat ensures that the fixing head and the limiting sleeve are always in a docking state, so as to satisfy the anti-sway fixation of the hook and the hoisted object at any position, and keep the hoisted object in a stable state throughout the process.

[0012] As a further technical solution of the present invention, a winding drum for use with the hoisting cable is movably installed inside the drive base. One end of the winding drum is driven by a motor and gears. The motor drives the winding drum to rotate by the gears, thereby driving the hoisting cable to be raised and lowered.

[0013] As a further technical solution of the present invention, a limiting plate is fixedly installed on the lower part of the drive seat. The limiting plate and the drive seat are fixed together by a fixing rod. The setting of the limiting plate can fix the installation of the limiting sleeve, and the use of the hoisting cable can guide the hoisting cable so that it must pass through the limiting sleeve when lifting and lowering.

[0014] As a further technical solution of the present invention, a limiting sleeve is fixedly installed at the middle position of the lower outer surface of the limiting plate. As a low-cost anti-sway solution, the limiting plate can be added to the lower part of the drive seat without the need for a stabilizing frame and a synchronous slide. The limiting sleeve is directly fixed to the lower end of the limiting plate. When the hook lifts the object, the moving frame remains stationary, which can reduce the swing amplitude when the object is lifted. The hook continues to move upward. When the fixed clamp head and the limiting sleeve at the lower part of the limiting plate are connected, the mechanical reinforcement of the limiting sleeve is completed. The hard connection between the limiting sleeve and the fixed clamp head prevents the lifted object from swaying. After the limiting sleeve and the fixed clamp head are connected, the drive seat and the moving frame are used to transfer the lifted object. This method eliminates the use of the stabilizing frame and the synchronous slide head, reducing equipment costs, but it cannot achieve full stability.

[0015] The beneficial effects of this invention are as follows: By setting up a stabilizing frame and a synchronous sliding block, the anti-sway device used in the lifting of this unmanned crane, in conjunction with the use of a fixed clamp and a limiting clamp, provides an all-around synchronous anti-sway structure. It can move freely with the object being lifted, significantly suppressing the swaying generated during the start-up, shutdown, and operation of the load, controlling the sway amplitude to a very small range, thereby significantly shortening the alignment and waiting time of the lifting equipment, and improving the cycle efficiency and throughput of fully automated operations; at the same time, it eliminates the additional inertial force and alternating load caused by dynamic swaying, reduces fatigue wear of wire ropes, lifting equipment, and main beam steel structure, extends the service life of the equipment, and reduces maintenance costs; During routine operation, the lifting wheels are driven by a motor to rotate, allowing them to move up and down along a toothed track using their surface toothed structure. This enables arbitrary adjustment of the stabilizer's operating height. The motor also drives the casters via gears, causing the drive unit and synchronous slide to move along the movable bridge and stabilizer respectively. When the drive unit moves, the synchronous slide moves synchronously below it. During hook lifting operations, the fixed clamp provides anti-sway assistance after the hook is lifted, eliminating the need for swaying. The swing distance of the hoisting cable is reduced, and the rigid connection between the fixed clamp and the limiting sleeve is used to assist in stabilizing the hook, so that the hook is in a stable state. The inclined structure can reduce the resistance after the fixed clamp and the limiting sleeve are connected. The stabilizing frame can follow the hook to make corresponding lifting and lowering adjustments. At the same time, the synchronous movement between the synchronous slide and the drive seat ensures that the fixed clamp and the limiting sleeve are always connected, so that the hook and the hoisted object are fixed against swaying at any position. The anti-swaying fixation can be completed synchronously at the moment of hoisting, so that the hoisted object remains stable throughout the process. By setting a limit plate, the anti-sway device used by the unmanned crane can optimize its equipment cost and give it a fixed anti-sway structure. After the object is lifted to the corresponding height, its anti-sway reinforcement is completed to prevent swaying during movement. In use, without the stabilizer and synchronous slide, a limiting plate can be added to the lower part of the drive base, and the limiting sleeve can be directly fixed to the lower end of the limiting plate. When the hook lifts the object, the moving frame remains stationary, which can reduce the swing amplitude of the object during lifting and lowering. The hook continues to move upward, and when the fixed clamp head and the limiting sleeve at the lower part of the limiting plate are connected, the mechanical reinforcement of the limiting sleeve is completed. The rigid connection between the limiting sleeve and the fixed clamp head prevents the lifted object from swaying. After the limiting sleeve and the fixed clamp head are connected, the drive base and the moving frame are used to transfer the lifted object. This method eliminates the use of the stabilizer and synchronous slide, reducing equipment costs. Although it cannot be stable throughout the entire process, it can meet the sway reinforcement during movement. Attached Figure Description To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is an overall structural diagram of the synchronous slide block in this invention; Figure 3 This is an overall structural diagram of the stabilizer frame in this invention; Figure 4 This is an overall structural diagram of the drive seat in this invention.

[0017] In the diagram: 1. Movable cable tray; 2. Drive base; 3. Movable frame; 4. Gear rail; 5. Stabilizer; 6. Slide rail; 7. Synchronous slide block; 8. Suspension cable; 9. Hook; 10. Fixed clamp; 11. Limiting sleeve; 12. Connector; 13. Guide wheel; 14. Lifting wheel; 15. Limiting slide rod; 16. Transverse slide groove; 17. Winding drum; 18. Motor; 19. Driver; 20. Fixed rod; 21. Limiting plate. Detailed Implementation

[0018] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] like Figures 1-4As shown, an anti-sway device for hoisting with an unmanned crane includes a movable bridge 1 and a stabilizer 5. The stabilizer 5 is movably installed below the movable bridge 1. Movable frames 3 are fixedly installed at the lower positions of both ends of the movable bridge 1. The bottom of the movable frames 3 is provided with a slide rail 6. The two ends of the stabilizer 5 are movably connected to the movable frames 3. A drive seat 2 is movably installed on the inner side of the movable bridge 1. A synchronous slide 7 for use with the drive seat 2 is movably installed on the inner side of the stabilizer 5. The synchronous slide 7 is located directly below the drive seat 2. A socket 12 is fixedly installed on the inner side of the synchronous slide 7. A hoisting cable 8 is movably installed at the lower part of the drive seat 2, and a fixing clip 10 is fixedly installed at the bottom position of the outer surface of the hoisting cable 8.

[0020] A hook 9 is fixedly installed on the lower outer surface of the hoisting cable 8. A fixing head 10 is located on the upper part of the hook 9. The upper end of the fixing head 10 has an inclined structure. By using the setting of the fixing head 10, the hook 9 can be anti-sway auxiliary docking after the hoisting operation is completed. When the fixing head 10 and the limiting sleeve 11 dock with each other, the swing distance of the hoisting cable 8 is eliminated. The rigid connection between the fixing head 10 and the limiting sleeve 11 is used to help stabilize the hook 9, so that the hook 9 is in a stable state. The inclined structure setting can reduce the resistance after the fixing head 10 and the limiting sleeve 11 dock.

[0021] A limiting sleeve 11 is fixedly installed at the middle of the lower outer surface of the socket 12 to cooperate with the fixing head 10. The lifting cable 8 passes through the socket 12 and the limiting sleeve 11. When the lifting cable 8 pulls the hook 9 upward, the fixing head 10 on the upper part of the hook 9 will dock with the limiting sleeve 11 at the lower end of the socket 12. When the moving frame 3 drives the moving bridge 1 to transfer the object, the docking between the fixing head 10 and the limiting sleeve 11 can effectively reduce the swaying amplitude of the object at the lower end of the lifting cable 8. The rigid connection plays a role in preventing swaying of the hook 9 and the lifting cable 8.

[0022] Two sets of guide wheels 13 are movably installed on the inner side of the socket 12 to cooperate with the hoisting cable 8. The hoisting cable 8 is located between the two sets of guide wheels 13. By using the guide wheels 13, the friction between the hoisting cable 8 and the socket 12 can be reduced when the hoisting cable 8 moves up and down, thereby reducing the wear on the hoisting cable 8.

[0023] Both ends of the stabilizer 5 are fixedly installed with limit slide rods 15. The inner side of the movable frame 3 is provided with a slide groove that works with the limit slide rods 15. By using the limit slide rods 15, the stabilizer 5 can move up and down along the vertical direction of the movable frame 3, so that the stabilizer 5 can be adjusted according to the hoisting height of the hook 9.

[0024] The inner side of the stabilizer 5 is provided with a transverse slide groove 16 for use with the synchronous slide 7. Both ends of the synchronous slide 7 and the drive seat 2 are provided with a driver 19. The driver 19 consists of a motor and a caster. When in use, the motor drives the caster to rotate through the gear, so that the drive seat 2 and the synchronous slide 7 translate along the movable bridge 1 and the stabilizer 5 respectively. When the drive seat 2 moves, the synchronous slide 7 moves synchronously at the lower part of the drive seat 2.

[0025] In the first embodiment, lifting wheels 14 are provided at the middle of both ends of the stabilizing frame 5, and a toothed rail 4 is provided in the middle of the moving frame 3 to cooperate with the lifting wheels 14. The toothed rail 4 and the lifting wheels 14 mesh with each other. During operation, the lifting wheels 14 are driven to rotate by a motor, so that the lifting wheels 14 move up and down along the toothed rail 4 using their surface tooth structure, thereby arbitrarily adjusting the working height of the stabilizing frame 5. When the hook 9 is used for hoisting, the stabilizing frame 5 can follow the hook 9 to make corresponding lifting and lowering adjustments. At the same time, the synchronous movement between the synchronous slide 7 and the drive seat 2 ensures that the fixed clamp head 10 and the limit clamp sleeve 11 are always in a docking state, so that the hook 9 and the hoisted object are fixed against swaying at any position, and the hoisted object remains stable throughout the process.

[0026] The drive base 2 has a movable winding drum 17 that works with the hoisting cable 8. One end of the winding drum 17 is driven by a motor 18 and a gear. The motor 18 drives the winding drum 17 to rotate using the gear, thereby driving the hoisting cable 8 to adjust its height.

[0027] A limiting plate 21 is fixedly installed on the lower part of the drive seat 2. The limiting plate 21 and the drive seat 2 are connected and fixed by a fixing rod 20. The setting of the limiting plate 21 can fix the installation of the limiting sleeve 11. The use of the hoisting cable 8 plays a guiding role, so that the hoisting cable 8 must pass through the limiting sleeve 11 when lifting and lowering.

[0028] Example 2, a low-cost solution: A limiting sleeve 11 is fixedly installed at the middle of the lower outer surface of the limiting plate 21 as a low-cost anti-sway solution. This eliminates the need for the stabilizer 5 and synchronous slide 7. Instead, a limiting plate 21 is added to the lower part of the drive base 2, and the limiting sleeve 11 is directly fixed to the lower end of the limiting plate 21. When the hook 9 lifts the object, the moving frame 3 remains stationary, reducing the swaying amplitude during lifting. The hook 9 continues to move upwards. When the fixed clamp 10 aligns with the limiting sleeve 11 at the lower part of the limiting plate 21, mechanical reinforcement of the limiting sleeve 11 is achieved. The rigid connection between the limiting sleeve 11 and the fixed clamp 10 prevents the lifted object from swaying. After the limiting sleeve 11 and the fixed clamp 10 align, the drive base 2 and the moving frame 3 are used to transfer the lifted object. This method eliminates the use of the stabilizer 5 and synchronous slide 7, reducing equipment costs, but it cannot achieve full-process stability.

[0029] An anti-sway device for lifting with an unmanned crane, in use, utilizes a motor to drive the lifting wheel 14 to rotate, causing the lifting wheel 14 to move up and down along the toothed rail 4 using its surface toothed structure, thereby arbitrarily adjusting the working height of the stabilizing frame 5. The motor also drives the casters to rotate via gears, causing the drive seat 2 and synchronous slide 7 to translate along the movable bridge 1 and stabilizing frame 5 respectively. When the drive seat 2 moves, the synchronous slide 7 moves synchronously below the drive seat 2. When the hook 9 is used for lifting operations, the fixed clamp 10 provides anti-sway auxiliary docking for the hook 9 after the lifting operation is completed. When the fixed clamp 10 and the limiting sleeve 11... After docking, the swing distance of the hoisting cable 8 is eliminated. The rigid connection between the fixed clamp 10 and the limiting clamp 11 is used to help stabilize the hook 9, so that the hook 9 is in a stable state. The inclined structure can reduce the resistance after the fixed clamp 10 and the limiting clamp 11 dock. The stabilizing frame 5 can follow the hook 9 to make corresponding lifting and lowering adjustments. At the same time, the synchronous movement between the synchronous slide 7 and the drive seat 2 ensures that the fixed clamp 10 and the limiting clamp 11 are always docked, so that the hook 9 and the hoisted object are fixed against swaying at any position. The anti-swaying fixation can be completed synchronously at the moment of hoisting, so that the hoisted object remains stable throughout the process.

[0030] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. An anti-sway device for hoisting with an unmanned crane, characterized in that, The device includes a movable cable tray (1) and a stabilizer (5). The stabilizer (5) is movably installed below the movable cable tray (1). Movable frames (3) are fixedly installed at the lower positions of both ends of the movable cable tray (1). The bottom of the movable frame (3) is provided with a slide rail (6). The two ends of the stabilizer (5) are movably connected to the movable frame (3). A drive seat (2) is movably installed on the inner side of the movable cable tray (1). A synchronous slide (7) for use with the drive seat (2) is movably installed on the inner side of the stabilizer (5). The synchronous slide (7) is located directly below the drive seat (2). A socket (12) is fixedly installed on the inner side of the synchronous slide (7). A suspension cable (8) is movably installed on the lower part of the drive seat (2), and a fixing clip (10) is fixedly installed at the bottom position of the outer surface of the suspension cable (8).

2. The anti-sway device for unmanned crane hoisting according to claim 1, characterized in that, A hook (9) is fixedly installed on the lower outer surface of the suspension cable (8), and the fixing head (10) is located on the upper part of the hook (9). The upper end of the fixing head (10) has an inclined structure.

3. The anti-sway device for unmanned crane hoisting according to claim 2, characterized in that, A limiting sleeve (11) for use with a fixing clip (10) is fixedly installed at the middle position of the lower outer surface of the socket (12), and the lifting cable (8) passes through the socket (12) and the limiting sleeve (11).

4. The anti-sway device for unmanned crane hoisting according to claim 3, characterized in that, The inner side of the socket (12) is movably installed with two sets of guide wheels (13) for use with the hoisting cable (8), and the hoisting cable (8) is located between the two sets of guide wheels (13).

5. The anti-sway device for unmanned crane hoisting according to claim 1, characterized in that, Both ends of the stabilizer (5) are fixedly installed with limit slide rods (15), and the inner side of the movable frame (3) is provided with a slide groove for use with the limit slide rods (15).

6. The anti-sway device for unmanned crane hoisting according to claim 5, characterized in that, The inner side of the stabilizer (5) is provided with a transverse slide groove (16) for use with the synchronous slide (7), and both ends of the synchronous slide (7) and the drive seat (2) are provided with a driver (19).

7. The anti-sway device for unmanned crane hoisting according to claim 6, characterized in that, The stabilizer (5) is provided with lifting wheels (14) at the middle of both ends, and the movable frame (3) is provided with a toothed rail (4) in the middle for use with the lifting wheels (14). The toothed rail (4) and the lifting wheels (14) mesh with each other.

8. The anti-sway device for unmanned crane hoisting according to claim 1, characterized in that, The drive base (2) is internally fitted with a winding drum (17) for use with the hoisting cable (8), and one end of the winding drum (17) is driven by a motor (18) in conjunction with gears.

9. The anti-sway device for hoisting with an unmanned crane according to claim 8, characterized in that, A limiting plate (21) is fixedly installed on the lower part of the drive seat (2), and the limiting plate (21) and the drive seat (2) are connected and fixed by a fixing rod (20).

10. The anti-sway device for hoisting with an unmanned crane according to claim 9, characterized in that, A limiting sleeve (11) is fixedly installed at the middle position of the lower outer surface of the limiting plate (21).

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