Intelligent fixed rotary crane

Abstract

The application provides a kind of intelligent fixed rotary crane, comprising: rotary crane conventional hardware unit, for performing hoisting operation;Rotary crane intelligent bottom hardware unit, including pose detection device, rotary positioning device, luffing positioning device, hoisting positioning device, security detection device and vibration online monitoring device, for collecting detection data in hoisting operation process and transmitting to intelligent rotary crane control unit;Intelligent rotary crane control unit, including airborne control system and intelligent auxiliary control system, for receiving the detection data transmitted by rotary crane intelligent bottom hardware unit, and according to detection data, using intelligent hoisting operation auxiliary control method to control rotary crane conventional hardware unit to perform hoisting operation.The application can realize the autonomous obstacle avoidance of crane in complex dynamic environment, the accurate and efficient positioning of large-tonnage load and the intelligent closed-loop management of whole operation process.

Description

Technical Field

[0001] This invention relates to the field of stationary rotary crane technology, and more particularly to an intelligent stationary rotary crane. Background Technology

[0002] Fixed rotary cranes are core equipment used for handling large-tonnage materials in ports, shipyards, and heavy manufacturing industries. Their lifting operations mainly rely on the combined motion of the hoisting mechanism, luffing mechanism, and slewing mechanism to position and place the load in three-dimensional space. The hoisting mechanism controls the vertical lifting and lowering of the hook, the luffing mechanism adjusts the boom's elevation angle to change the working radius, and the slewing mechanism drives the entire machine to rotate to cover the fan-shaped working area. The coordinated control of these three mechanisms forms the basis for the automated operation of the crane.

[0003] Automatic control technology for fixed rotary cranes has seen some development. For example, CN109279511A proposes a crane lifting control method and system. By acquiring the crane's initial slewing angle, luffing range, and initial hook position, and combining this with the target hook position, a lifting path is determined, including the slewing angle to be executed, luffing range, and hook height. The crane is then controlled to perform lifting operations according to this path. This scheme also involves using an obstacle avoidance detection module to identify obstacles in the work area and, when an obstacle is detected, replanning the lifting path to avoid it. Furthermore, CN117775986A proposes a motion decoupling control method for tower cranes. This method performs speed-level decoupling control of the slewing motion, trolley luffing motion, and hook lifting motion. Multiple speed levels are set, and the speeds are adjusted in real time based on the relative relationship between the current position, target position, and collision prediction point to achieve hook path tracking and obstacle avoidance.

[0004] However, the aforementioned existing technologies still have significant shortcomings. In terms of environmental perception, existing solutions mainly rely on single obstacle detection methods, lacking the ability to deeply integrate and perceive the position and posture of the hoisted object, global information about the working environment, and the structural health status of the crane, making it difficult to achieve a comprehensive situational understanding of complex operating scenarios. Regarding motion control, existing methods treat the motion control of the slewing, luffing, and hoisting mechanisms relatively independently, failing to establish a multi-mechanism collaborative closed-loop control mechanism based on real-time load posture feedback. This results in insufficient sway suppression capability for large-tonnage loads during complex motion, requiring repeated adjustments for precise positioning. In terms of safety protection, existing solutions primarily target external obstacles within the working area, lacking systematic active monitoring and intervention methods for abnormal structural vibrations of the crane itself, exceeding limits in mechanism operation, and dynamic adaptation of rated lifting capacity under different working conditions. Furthermore, existing technologies have not yet formed a complete intelligent closed-loop architecture from environmental perception and path planning to motion execution and safety protection; the functional modules are independent of each other, making it difficult to achieve autonomous operation and intelligent management of the entire operation process. Summary of the Invention

[0005] In view of this, the purpose of this invention is to propose an intelligent fixed rotary crane to solve the technical problem that existing crane automatic control schemes are unable to achieve a comprehensive situational understanding of complex operating scenarios.

[0006] The technical means employed in this invention are as follows: An intelligent stationary rotary crane includes: The conventional hardware units of a slewing crane include a gantry mechanism, a slewing mechanism, a luffing mechanism, a hoisting mechanism, a machine room mechanism, and an operator's cab mechanism, used to perform lifting operations; The intelligent underlying hardware unit of the slewing crane includes a posture detection device, a slewing positioning device, a luffing positioning device, a hoisting positioning device, a safety detection device, and a vibration online monitoring device, which are used to collect detection data during the hoisting operation and transmit it to the intelligent slewing crane control unit. The intelligent slewing crane control unit includes an onboard control system and an intelligent auxiliary control system. It is used to receive detection data transmitted from the intelligent underlying hardware unit of the slewing crane, and to control the conventional hardware unit of the slewing crane to perform hoisting operations based on the detection data using an intelligent hoisting operation auxiliary control method.

[0007] Furthermore, the pose detection device includes a laser scanner and a high-definition camera installed at the end of the boom, as well as a point cloud processing server and an image processing server installed in the PLC room. The pose detection device is used to acquire real-time position data and real-time attitude data of the hoisted object and the working environment. Furthermore, the slewing positioning device includes a Gray busbar encoder mounted on the slewing platform for detecting the real-time slewing angle of the slewing mechanism; the luffing positioning device includes an inclinometer mounted at the base of the boom for detecting the real-time luffing angle of the luffing mechanism; the hoisting positioning device includes a main hoisting encoder and an auxiliary hoisting encoder mounted in the machine room, and a hook slewing encoder mounted on the main hook. The main hoisting encoder is used to detect the real-time position value of the main hoisting wire rope, the auxiliary hoisting encoder is used to detect the real-time position value of the auxiliary hoisting wire rope, and the hook slewing encoder is used to detect the real-time slewing angle of the main hook.

[0008] Furthermore, the security detection device includes millimeter-wave radar, a laser anti-collision device, a weighing sensor, and an anemometer, used to detect collision risks, overload risks, and strong wind risks during hoisting operations. The sensors are used to detect the weight of the corresponding hoisted object to determine overload conditions. The anemometer is used to detect the real-time wind speed in the work area for high wind warning detection.

[0009] Furthermore, the vibration online monitoring device includes a status monitoring host and a data aggregation switch installed in the PLC room, as well as vibration monitoring sensors installed at various key parts of the slewing crane; the vibration monitoring sensors are used to collect vibration data at various key parts and transmit it to the status monitoring host via the data aggregation switch; the status monitoring host processes the received vibration data to determine the vibration status of each key part, and transmits the determination result to the intelligent slewing crane control unit via the data aggregation switch.

[0010] Furthermore, the intelligent rotary crane control unit determines the given speed values ​​of each mechanism based on the target position and the current actual position; The main hook hoisting speed setpoint is as follows: V 主 =min((2×a) 主 ×(H) 主实际 -H 主目标 )) 0.5 V 主max ) Among them, a 主 Main hook lifting acceleration, H 主实际 Actual height of main hook, H 主目标 Main hook target height, V 主max The maximum permissible operating speed for main hook hoisting; The setpoint speed for the auxiliary hook lifting is as follows: V 副 =min((2×a) 副 ×(H) 副实际 -H 副目标 )) 0.5 V副max ) Among them, a 副 H is the lifting acceleration of the auxiliary hook. 副实际 H represents the actual height of the auxiliary hook. 副目标 V represents the target height of the secondary hook. 副max The maximum permissible operating speed for the auxiliary hook lifting; The given speed values ​​for the luffing mechanism are as follows: V 变幅 =min((2×a) 变幅 ×(S 变幅实际 -S 变幅目标 )) 0.5 V 变幅max ) Among them, a 变幅 S is the linear acceleration of the luffing mechanism. 变幅实际 S is the length of the wire rope when the luffing mechanism is at the current angle. 变幅目标 V is the length of the wire rope when the luffing mechanism reaches the target angle. 变幅max The maximum permissible operating speed for the luffing mechanism; The given speed values ​​for the rotary mechanism are as follows: V 回转 =K 回转 ×min((2×α 回转 ×(θ 回转实际 -θ 回转目标 )) 0.5 ω 回转max ) Among them, K 回转 To convert the linear velocity of the rotary motor to the angular velocity of the rotary mechanism, α 回转 θ is the angular acceleration of the rotary mechanism. 回转实际 θ represents the actual angle of the rotary mechanism. 回转目标 For the target angle of the slewing mechanism, ω 回转max The maximum permissible angular velocity for the rotary mechanism; The given speed values ​​for hook rotation are as follows: V 吊钩 =K 吊钩 ×min((2×α 吊钩 ×(θ 吊钩实际 -θ 吊钩目标 )) 0.5 ω 吊钩max ) Among them, K 吊钩 To convert the linear velocity of the hook slewing motor to the angular velocity of the hook slewing mechanism, α 吊钩 Let θ be the angular acceleration of the hook slewing mechanism. 吊钩实际 θ represents the actual angle of the hook slewing mechanism. 吊钩目标 ω is the target angle of the hook slewing mechanism. 吊钩maxThis refers to the maximum permissible angular velocity of the hook slewing mechanism.

[0011] Furthermore, the intelligent slewing crane control unit calculates the real-time position values ​​of the slewing mechanism, luffing mechanism, hoisting mechanism, and hook slewing mechanism in the following manner: Main hook real-time height value: H 主钩 =H 绞点 +L 臂架主钩 ×sin(90°-Φ)-(L 主绳 -L 主绳收绳 -L 主绳固定 )÷N 主绳 -H 主钩高 Real-time height of auxiliary hook: H 副钩 =H 绞点 +L 臂架副钩 ×sin(90°-Φ)-(L 副绳 -L 副绳收 -L 副绳固定 )÷N 副绳 -H 副钩高 Real-time angle value of amplitude variation: Φ=Φ 倾角仪 Real-time rotation angle value: ω 回转 =360°×S 回转 ÷(π×D 编码尺 ) Real-time slewing angle of the main hook: ω 主钩回转 =360°×S 主钩回转 ÷S 主钩全回转 Among them, H 绞点 L represents the height of the boom hinge point from the quay surface. 臂架主钩 Φ is the length from the main hook position at the boom end to the boom hinge position, Φ is the real-time luffing angle, and L is the length from the main hook position at the boom end to the boom hinge position. 主绳 The total length of the main hook wire rope, L 主绳收绳 The main hook wire rope take-up length, L, measured by the main hoisting encoder. 主绳固定 The length of the main hook wire rope from the exit end of the main hoisting drum to the exit end of the main hook pulley at the end of the boom, N. 主绳 H is the ratio of the pulley block consisting of the main hook pulley at the boom end and the pulley at the top of the main hook. 主钩高 The height of the main hook structure itself; L 副绳 For the total length of the auxiliary hook wire rope, L 副绳收绳 L is the length of the secondary hook wire rope taken up by the secondary lifting encoder. 副绳固定The length of the auxiliary hook wire rope, N, is the distance from the rope exiting the auxiliary hoisting drum to the rope exiting the auxiliary hook pulley at the end of the boom. 副绳 H is the ratio of the pulley block consisting of the auxiliary hook pulley at the end of the boom and the upper pulley of the auxiliary hook. 副钩高 Φ is the height of the auxiliary hook structure itself. 倾角仪 S is the real-time angle value of the amplitude change measured by the inclinometer. 回转 D represents the stroke value measured by the Gray busbar encoder when the slewing mechanism is at its current slewing angle. 编码尺 The diameter of the mounting rail for the Gray busbar encoder ruler, S 主钩回转 The stroke value S measured by the hook rotation encoder when the main hook is at the current rotation angle. 主钩全回转 The stroke value measured by the hook rotation encoder when the main hook rotates one revolution.

[0012] Furthermore, the intelligent slewing crane control unit includes a frequency converter cabinet, a PLC control cabinet, and a control console; the frequency converter cabinet includes frequency converters that drive each mechanism; the PLC control cabinet has a built-in PLC module and a switch; the PLC module transmits control commands to each frequency converter via the switch; the PLC module receives detection data transmitted from each device of the intelligent underlying hardware unit of the slewing crane via the switch; the control console is equipped with slewing crane operating elements for manual operation by the operator and an auxiliary operation platform for the operator to set and issue intelligent auxiliary operation commands. Positioning and attitude detection data obtained from point cloud processing server and image processing server are received via the switch and used for determining the safety of hoisting operations. The PLC module receives detection data from the Gray busbar encoder in the slewing positioning device, the inclinometer in the luffing positioning device, and the main hoisting encoder, auxiliary hoisting encoder, and hook slewing encoder in the hoisting positioning device via a switch, and uses this data to acquire slewing angle, luffing angle, main hoisting height, auxiliary hoisting height, and main hook slewing angle. The PLC module receives intelligent auxiliary operation commands from the auxiliary operation platform on the control console via a switch, which are used for intelligent auxiliary action control of multi-mechanism collaboration. The PLC module receives signals from the millimeter-wave radar and laser anti-collision devices in the security detection device, which are collected by the DI module, and is used for anti-collision protection. The PLC module receives detection data from the main hook weighing sensor, auxiliary hook weighing sensor, and anemometer in the security detection device, which are collected by the AI ​​module, and is used for overload and wind protection. The PLC module receives abnormal vibration signals from key components determined by the status monitoring host in the security detection device via a switch, and uses them to suppress abnormal vibration control. The control console is equipped with slewing crane operating elements for manual operation by the operator, as well as an auxiliary operating platform for the operator to set and issue intelligent auxiliary operation commands.

[0013] Furthermore, the conventional hardware units of the slewing crane include a gantry mechanism, a slewing mechanism, a luffing mechanism, a hoisting mechanism, a machine room mechanism, and a driver's cab mechanism; The gantry mechanism is located at the bottom of the rotary crane and serves as a support structure for the rotary crane; The slewing mechanism is located above the gantry mechanism and includes a slewing structure, a slewing motor, and a slewing gearbox. It is used to drive the luffing mechanism, hoisting mechanism, machine room mechanism, and driver's cab mechanism, which are installed above the slewing mechanism, to perform a slewing motion as a whole. The luffing mechanism is located above the slewing mechanism and includes a boom structure, luffing pulleys and their rope system, as well as a luffing motor, luffing drum and luffing gearbox located inside the machine room mechanism, used to realize the overall raising and lowering of the boom. The hoisting mechanism is located above the slewing mechanism and includes a main hook structure, a main hook pulley and its rope system, a hook slewing motor, an auxiliary hook structure, an auxiliary hook pulley and its rope system, as well as a main hoisting motor, a main hoisting drum, a main hoisting gearbox, an auxiliary hoisting motor, an auxiliary hoisting drum and an auxiliary hoisting gearbox located inside the machine room mechanism, for realizing the raising, lowering and slewing actions of the main hook and the raising and lowering actions of the auxiliary hook; The machine room structure is located above the slewing mechanism and has a machine room structure. The machine room structure is used to support and install the luffing motor, luffing drum, luffing gearbox, main hoisting motor, main hoisting drum, main hoisting gearbox, auxiliary hoisting motor, auxiliary hoisting drum, auxiliary hoisting gearbox, as well as the frequency converter and PLC control cabinet in the intelligent slewing crane control unit. The driver's cab mechanism is located above the slewing mechanism and has a driver's cab structure, which is used to support and install the control console in the intelligent slewing crane control unit.

[0014] Compared with the prior art, the present invention has the following advantages: This invention integrates environmental perception, motion decision-making, and mechanism execution within a single system by setting up a conventional hardware unit of a slewing crane as the execution carrier, an intelligent underlying hardware unit of the slewing crane for collecting posture detection data, positioning detection data, and safety detection data, and an intelligent slewing crane control unit to control the conventional hardware unit to perform lifting operations based on the aforementioned detection data. Operators only need to issue target position commands through an auxiliary operation platform, and the system can automatically complete the entire process from data acquisition and path calculation to mechanism driving, eliminating the need to switch between different control consoles or adjust the actions of each mechanism separately based on visual observation.

[0015] This invention simultaneously installs a laser scanner and a high-definition camera at the end of the boom, and configures a point cloud processing server and an image processing server to process the two types of data respectively. The laser scanner collects three-dimensional point cloud data of the work area to obtain the real-time coordinates of the hoisted object in space. The high-definition camera collects image data and calculates the axial tilt angle and horizontal rotation angle of the hoisted object by tracking image tracking points on the hook suspension point and the outer contour of the hoisted object, thereby obtaining the real-time attitude data of the hoisted object. After the position data and attitude data are synchronously transmitted to the control unit, the control unit can adjust the motion parameters of each mechanism according to the actual spatial state of the load, avoiding the parallax problem of manual visual inspection, and enabling the control system to perform subsequent path planning and positioning operations based on continuous and quantified position feedback.

[0016] This invention utilizes an intelligent auxiliary control system to automatically calculate the required operating angles for the slewing mechanism, luffing mechanism, and hoisting mechanism based on the spatial coordinates of the initial and target positions of the hoisted object. It also determines the given speed values ​​for each mechanism based on the difference between the current and target positions, enabling the slewing, luffing, and hoisting mechanisms to operate simultaneously and coordinate to complete the spatial displacement of the hoisted object. During slewing, the speed of the hook slewing mechanism is matched in reverse to the slewing mechanism, ensuring that the hoisted object maintains its original orientation during slewing. This achieves continuous positioning from start to finish in a single operation, with each mechanism automatically coordinating during movement, eliminating the need for repeated adjustments by the operator.

[0017] This invention utilizes millimeter-wave radars installed on the left and right sides of the boom end, the left and right sides of the middle of the boom, and the left and right sides of the rear of the machine room. A laser anti-collision device is installed on the lower side of the middle of the boom. This ensures that collision risks in all directions along the crane's slewing and luffing paths are covered by corresponding sensors. When any sensor detects an obstacle, the control unit terminates the dangerous action in that direction. The weight of the hoisted load is detected by main hook and auxiliary hook load sensors mounted on the pulleys. Overload judgment is made based on the rated lifting capacity corresponding to the real-time luffing angle. Unlike traditional overload protection that only triggers when the lifting weight exceeds a fixed threshold, this invention applies different rated lifting capacities for graded judgment at different luffing angles. Vibration data is collected from key components by vibration monitoring sensors distributed at the boom root hinge point, boom end pulley, tower top pulley, slewing bearing, four portal legs, and reducer. Monitoring is conducted on components related to luffing during boom operation, hoisting during hoisting, and slewing during slewing. After the status monitoring host analyzes the vibration data, the control unit executes corresponding alarm or shutdown commands based on the analysis results. This enables independent detection and proactive intervention for four types of risks: collision, overload, high wind, and structural abnormalities.

[0018] This invention uses a control unit to calculate the given speed value for each mechanism based on the difference between the current actual position and the target position, under acceleration constraints. This allows each mechanism to gradually accelerate during the start-up phase and gradually decelerate as it approaches the target position, limiting the speed to within the maximum allowable operating speed of each mechanism. This ensures that the slewing, luffing, and hoisting mechanisms remain in a controllable acceleration / deceleration state throughout the entire movement, avoiding the impact of sudden speed changes on the crane's steel structure. It also reduces the swaying amplitude of the load during movement, enabling large-tonnage loads to smoothly reach the target position. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a system architecture diagram of the intelligent fixed rotary crane of the present invention.

[0021] Figure 2 This is a layout diagram of the conventional hardware units of the rotary crane of the present invention.

[0022] Figure 3 This is a layout diagram of the intelligent underlying hardware unit of the rotary crane of the present invention.

[0023] Figure 4 This is a flowchart of the intelligent fixed rotary crane control system of the present invention.

[0024] In the diagram: 1. A-side gantry structure; 2. B-side gantry structure; 3. Slewing structure; 4. Slewing motor; 5. Slewing gearbox; 6. Boom structure; 7. Luffing pulley and its rope system; 8. Machine room structure; 9. Luffing motor; 10. Luffing drum; 11. Luffing gearbox; 12. Main hook structure; 13. Main hook pulley and its rope system; 14. Hook slewing motor; 15. Auxiliary hook structure; 16. Auxiliary hook pulley and its rope system; 17. Main hoisting motor; 18. Main hoisting drum; 19. Main hoisting gearbox; 20. Auxiliary hoisting motor; 21. Auxiliary hoisting drum; 22. Auxiliary hoisting gearbox; 23. Driver's cab structure; 24. First millimeter-wave radar; 25. Second millimeter-wave radar; 26. Third millimeter-wave radar; 27. Fourth millimeter-wave radar; 28. Main hook weighing sensor; 29. ​​Auxiliary hook weighing sensor. 30. Weight sensor; 31. Anemometer; 32. Fifth millimeter-wave radar; 33. Sixth millimeter-wave radar; 34. Gray busbar encoder; 35. Inclinometer; 36. Main hoisting encoder; 37. Auxiliary hoisting encoder; 38. Hook slewing encoder; 39. First vibration monitoring sensor; 40. Second vibration monitoring sensor; 41. Third vibration monitoring sensor; 42. Fourth vibration monitoring sensor; 43. Fifth vibration monitoring sensor; 44. Sixth vibration monitoring sensor; 45. Seventh vibration monitoring sensor; 46. Eighth vibration monitoring sensor; 47. Ninth vibration monitoring sensor; 48. Tenth vibration monitoring sensor; 49. Eleventh vibration monitoring sensor; 50. Condition monitoring host and data aggregation switch; 51. Laser anti-collision device. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] like Figure 1 As shown, the present invention provides an intelligent fixed rotary crane, which consists of three parts: a conventional hardware unit for rotary cranes, an intelligent underlying hardware unit for rotary cranes, and an intelligent control unit for rotary cranes.

[0028] A typical slewing crane consists of a gantry mechanism, a slewing mechanism, a luffing mechanism, a hoisting mechanism, a machine room mechanism, and a driver's cab mechanism. The gantry mechanism, located at the bottom of the slewing crane, is the main supporting structure and is divided into A-side gantry structure 1 and B-side gantry structure 2. The slewing mechanism, located above the gantry mechanism, includes a slewing structure 3, a slewing motor 4, and a slewing gearbox 5, driving the luffing mechanism, hoisting mechanism, machine room mechanism, and driver's cab mechanism mounted above it to perform slewing movements. The luffing mechanism, located above the slewing mechanism, includes a boom structure 6, luffing pulleys and their rope system 7, and a luffing motor 9, luffing drum 10, and luffing gearbox 11 located inside the machine room mechanism 8, enabling the overall raising and lowering of the boom. The hoisting mechanism, located above the slewing mechanism, includes a main hook structure 12, main hook pulleys and their rope system 13, a hook slewing motor 14, an auxiliary hook structure 15, and an auxiliary hook sliding mechanism. The wheel and its rope system 16, along with the main hoisting motor 17, main hoisting drum 18, main hoisting gearbox 19, auxiliary hoisting motor 20, auxiliary hoisting drum 21, and auxiliary hoisting gearbox 22 located inside the machine room mechanism, enable the main hook to rise, fall, and rotate, as well as the auxiliary hook to rise and fall. The machine room mechanism, located above the slewing mechanism, includes a machine room structure that houses the luffing motor, luffing drum, luffing gearbox, main hoisting motor, main hoisting drum, main hoisting gearbox, auxiliary hoisting motor, auxiliary hoisting drum, auxiliary hoisting gearbox, and the frequency converter and PLC control cabinet in the intelligent slewing crane control unit. The driver's cab mechanism 23, located above the slewing mechanism, includes a driver's cab structure that houses the control console in the intelligent slewing crane control unit. The specific layout is as follows: Figure 2 As shown.

[0029] The intelligent underlying hardware unit of the slewing crane consists of a posture detection device, a slewing positioning device, a luffing positioning device, a hoisting positioning device, a safety detection device, and an online vibration monitoring device. The posture detection device includes a laser scanner and a high-definition camera installed at the end of the boom, as well as a point cloud processing server and an image processing server installed in the PLC room. It is used to acquire real-time position data and real-time posture data of the hoisted object and the working environment, and transmit them to the intelligent slewing crane control unit. The slewing positioning device includes a Gray busbar encoder 33 installed on the slewing platform for real-time detection of the slewing angle of the slewing mechanism and transmitting the detection data to the intelligent slewing crane control unit; the luffing positioning device includes an inclinometer 34 installed at the base of the boom for real-time detection of the luffing angle of the luffing mechanism and transmitting the detection data to the intelligent slewing crane control unit; the hoisting positioning device includes a main hoisting encoder 35 and an auxiliary hoisting encoder 36 installed in the machine room, and a hook slewing encoder 37 installed on the main hook. The main hoisting encoder detects the real-time position of the main hoisting wire rope and transmits the detection data to the intelligent slewing crane control unit for calculating the real-time height of the main hook. The auxiliary hoisting encoder detects the real-time position of the auxiliary hoisting wire rope and transmits the detection data to the intelligent slewing crane control unit for calculating the real-time height of the auxiliary hook. The hook slewing encoder detects the real-time slewing angle of the main hook and transmits the detection data to the intelligent slewing crane control unit. The security detection device includes a first millimeter-wave radar 24 and a second millimeter-wave radar 25 installed on the left and right sides of the boom end; a third millimeter-wave radar 26 and a fourth millimeter-wave radar 27 installed on the left and right sides of the middle of the boom; a laser anti-collision device 51 installed on the lower side of the middle of the boom; a main hook load cell 28 and a secondary hook load cell 29 installed on the pulley at the boom end; an anemometer 30 installed on the top of the tower; and a fifth millimeter-wave radar 31 and a sixth millimeter-wave radar 32 installed on the left and right sides of the rear of the machine room. Among them, the first millimeter-wave radar installed on the left side of the boom end is used to detect the boom end and its vicinity when the slewing mechanism rotates counterclockwise. The system detects whether there is a collision risk in the area and transmits the detection results to the intelligent slewing crane control unit; the second millimeter-wave radar, installed on the right side of the boom end, detects whether there is a collision risk in the boom end and its vicinity when the slewing mechanism rotates clockwise, and transmits the detection results to the intelligent slewing crane control unit; the third millimeter-wave radar, installed on the left side of the middle of the boom, detects whether there is a collision risk in the middle of the boom and its vicinity when the slewing mechanism rotates counterclockwise, and transmits the detection results to the intelligent slewing crane control unit; the fourth millimeter-wave radar, installed on the right side of the middle of the boom, detects whether there is a collision risk in the area ... system detects whether there is a collision risk in the area when the slewing mechanism rotates counterclockwise, and transmits the detection results to the intelligent slewing crane control unit; the system detects whether there is a collision risk in the area when the slewing mechanism rotates counterclockwise, and transmits the detection results to the intelligent slewing crane control unit; the system detects whether there is a collision risk in the area when the slewing mechanism rotates counterclockwise, and transmits the detection results to the intelligent slewing crane control unit. During the clockwise rotation, the system detects the risk of collision at the boom end and its vicinity, transmitting the results to the intelligent slewing crane control unit. A laser anti-collision device, by constructing a rectangular anti-collision detection area below the boom structure, detects the risk of collision on the lower surface of the boom during the luffing mechanism's lowering motion, transmitting the results to the intelligent slewing crane control unit. A main hook load cell detects the weight of the object being lifted by the main hook and transmits the results to the intelligent slewing crane control unit for main hook overload determination. A secondary hook load cell detects the weight of the object being lifted by the secondary hook and transmits the results to the intelligent slewing crane control unit. The intelligent slewing crane control unit is used for overload detection of the auxiliary hook; the anemometer is used to detect the real-time wind speed in the working area and transmits the detection results to the intelligent slewing crane control unit for strong wind warning detection; the fifth millimeter-wave radar installed on the left rear of the machine room is used to detect whether there is a collision risk in the rear area of ​​the machine room when the slewing mechanism rotates clockwise and transmits the detection results to the intelligent slewing crane control unit; the sixth millimeter-wave radar installed on the right rear of the machine room is used to detect whether there is a collision risk in the rear area of ​​the machine room when the slewing mechanism rotates counterclockwise and transmits the detection results to the intelligent slewing crane control unit. The vibration online monitoring device includes a status monitoring host and a data aggregation switch 50 installed in the PLC room, and vibration monitoring sensors installed on various key parts of the slewing crane. The status monitoring host receives the detection data from the vibration monitoring sensors installed on various key parts of the slewing crane via the data aggregation switch, processes the data, determines the vibration status of each key part, and transmits the determination result to the intelligent slewing crane control unit via the data aggregation switch. The data aggregation switch is used to collect the detection data from the vibration monitoring sensors installed on various key parts of the slewing crane and transmit it to the status monitoring host, while also establishing a data transmission link between the status monitoring host and the intelligent slewing crane control unit. The vibration monitoring sensors are used to collect vibration data installed on various key parts of the slewing crane and transmit it to the status monitoring host via the data aggregation switch. The specific layout is as follows... Figure 3 As shown.

[0030] The calculation methods for the real-time location values ​​of each institution are as follows: ① Calculation method for real-time height of main hook: H 主钩 =H 绞点 +L 臂架主钩 ×sin(90°-Φ)-(L 主绳 -L 主绳收绳 -L 主绳固定 )÷N 主绳 -H 主钩高 ; Among them, H 绞点 L represents the height of the boom hinge point from the quay surface. 臂架主钩 Φ is the length from the main hook position at the boom end to the boom hinge position, Φ is the real-time luffing angle, and L is the length from the main hook position at the boom end to the boom hinge position. 主绳 The total length of the main hook wire rope, L 主绳收绳 The main hook wire rope take-up length, L, measured by the main hoisting encoder. 主绳固定 The length of the main hook wire rope from the exit end of the main hoisting drum to the exit end of the main hook pulley at the end of the boom, N. 主绳 H is the ratio of the pulley block consisting of the main hook pulley at the boom end and the pulley at the top of the main hook. 主钩高 This refers to the height of the main hook structure itself.

[0031] ② Calculation method for real-time height of auxiliary hook: H 副钩 =H 绞点 +L 臂架副钩 ×sin(90°-Φ)-(L 副绳 -L 副绳收 -L 副绳固定 )÷N 副绳 -H 副钩高 ; Among them, H 绞点L represents the height of the boom hinge point from the quay surface. 臂架副钩 Φ is the length from the end hook of the boom to the boom hinge point, Φ is the real-time luffing angle, and L is the length from the end hook of the boom to the boom hinge point. 副绳 For the total length of the auxiliary hook wire rope, L 副绳收绳 L is the length of the secondary hook wire rope taken up by the secondary lifting encoder. 副绳固定 The length of the auxiliary hook wire rope, N, is the distance from the rope exiting the auxiliary hoisting drum to the rope exiting the auxiliary hook pulley at the end of the boom. 副绳 H is the ratio of the pulley block consisting of the auxiliary hook pulley at the end of the boom and the upper pulley of the auxiliary hook. 副钩高 This is the height value of the secondary hook structure itself.

[0032] ③ Calculation method for real-time angle value of amplitude variation: Φ=Φ 倾角仪 ; Where, Φ 倾角仪 This is the real-time angle value of the amplitude change measured by the inclinometer.

[0033] ④ Calculation method for real-time rotation angle: ω 回转 =360°×S 回转 ÷(π×D 编码尺 ); Among them, S 回转 D represents the stroke value measured by the Gray busbar encoder when the slewing mechanism is at its current slewing angle. 编码尺 The diameter of the mounting rail for the Gray busbar encoder.

[0034] ⑤ Method for calculating the real-time angle value of the main hook: ω 主钩回转 =360°×S 主钩回转 ÷S 主钩全回转 ; Among them, S 主钩回转 The stroke value S measured by the hook rotation encoder when the main hook is at the current rotation angle. 主钩全回转 The stroke value measured by the hook rotation encoder when the main hook rotates one revolution.

[0035] The specific locations of each vibration monitoring sensor are as follows: First vibration monitoring sensor 38: boom root hinge point; Second vibration monitoring sensor 39: main hook pulley at the end of the boom; Third vibration monitoring sensor 40: boom end luffing pulley; Fourth vibration monitoring sensor 41: Tower top lifting pulley; Fifth vibration monitoring sensor 42: Amplitude-changing pulley at the top of the tower; Sixth vibration monitoring sensor 43: slewing bearing; Seventh vibration monitoring sensor 44: Seaside left door leg; Eighth vibration monitoring sensor 45: Right door leg on the sea side; Ninth vibration monitoring sensor 46: Landside left door leg; Tenth vibration monitoring sensor 47: Landside right gate leg; Eleventh vibration monitoring sensor 48: Amplitude reducer; The 12th vibration monitoring sensor 49: Lifting reducer.

[0036] The intelligent slewing crane control unit consists of a frequency converter drive cabinet, a PLC control cabinet, and a control console. The frequency converter drive cabinet is located inside the machine room within the conventional hardware unit of the slewing crane and contains frequency converters for driving the motors of each mechanism. The PLC control cabinet integrates a PLC module, a switch, a DI module, and an AI module. The PLC module transmits control commands to each frequency converter via the switch; the PLC module receives detection data from the posture detection device, slewing positioning device, luffing positioning device, and hoisting positioning device via the switch, for calculating the position values ​​of each mechanism; the PLC module receives detection signals from the safety detection device collected by the DI module for collision protection; the PLC module receives detection data from the weighing sensor and anemometer in the safety detection device collected by the AI ​​module for overload detection and wind protection; the PLC module receives abnormal vibration signals determined by the status monitoring host in the vibration online monitoring device via the switch for abnormal vibration control. The control console is equipped with slewing crane operating elements and an auxiliary operating platform. The auxiliary operating platform is used by operators to set and issue intelligent auxiliary operating commands.

[0037] The specific positioning control methods for each institution are as follows: ① Main hook hoisting and positioning control method Main hook hoisting given speed value V 主 =min((2×a) 主 ×(H) 主实际 -H 主目标 )) 0.5 V 主max ); Among them, a 主 Main hook lifting acceleration, H 主实际 Actual height of main hook, H 主目标 Main hook target height, V 主max The maximum permissible operating speed for main hook hoisting.

[0038] ②Hook lifting and positioning control method The secondary hook lifting given speed value V 副 =min((2×a) 副 ×(H) 副实际 -H 副目标 ))0.5 V 副max ); Among them, a 副 H is the lifting acceleration of the auxiliary hook. 副实际 H represents the actual height of the auxiliary hook. 副目标 V represents the target height of the secondary hook. 副max The maximum permissible operating speed for the auxiliary hook lifting.

[0039] ③ Amplitude Positioning Control Method The variable amplitude given speed value V 变幅 =min((2×a) 变幅 ×(S 变幅实际 -S 变幅目标 )) 0.5 V 变幅max ); Among them, a 变幅 S is the linear acceleration of the luffing mechanism. 变幅实际 S is the length of the wire rope when the luffing mechanism is at the current angle. 变幅目标 V is the length of the wire rope when the luffing mechanism reaches the target angle. 变幅max The maximum permissible operating speed of the luffing mechanism. The formula for calculating the wire rope length corresponding to the different angles is as follows: S = (A 2 +L 2 -2×A×L×cos(θ-θ0)) 0.5 Where A is the distance between the hinge point and the pulley fulcrum, L is the boom length, θ is the current angle value of the luffing mechanism, and θ0 is the initial angle value of the luffing mechanism, 0°.

[0040] ④ Rotary positioning control method Rotational given speed value V 回转 =K 回转 ×min((2×α 回转 ×(θ 回转实际 -θ 回转目标 )) 0.5 ω 回转max ); Among them, K 回转 The conversion ratio between the linear velocity of the rotary motor and the angular velocity of the rotary mechanism is obtained from the rotary transmission type and the overall reduction ratio, α. 回转 θ is the angular acceleration of the rotary mechanism. 回转实际 θ represents the actual angle of the rotary mechanism. 回转目标 For the target angle of the slewing mechanism, ω 回转max The maximum permissible operating angular velocity for the rotary mechanism.

[0041] ⑤ Hook rotation positioning control method Hook slewing given speed value V 吊钩 =K 吊钩 ×min((2×α吊钩 ×(θ 吊钩实际 -θ 吊钩目标 )) 0.5 ω 吊钩max ); Among them, K 吊钩 The conversion ratio between the linear velocity of the hook slewing motor and the angular velocity of the hook slewing mechanism is derived from the hook slewing transmission type and the overall reduction ratio, α. 吊钩 Let θ be the angular acceleration of the hook slewing mechanism. 吊钩实际 θ represents the actual angle of the hook slewing mechanism. 吊钩目标 ω is the target angle of the hook slewing mechanism. 吊钩max This refers to the maximum permissible angular velocity of the hook slewing mechanism.

[0042] This technology provides an intelligent fixed rotary crane. By deeply integrating technologies such as high-precision environmental perception, multi-dimensional status monitoring, and intelligent decision-making algorithms, it constructs an intelligent operating system with autonomous environmental understanding, real-time path planning, precise motion execution, and adaptive safety protection capabilities. This completely changes the traditional control mode that relies on human experience, enabling the crane to autonomously avoid obstacles in complex dynamic environments, accurately and efficiently position large-tonnage loads, and achieve intelligent closed-loop management of the entire operation process. This significantly improves the safety, efficiency, and flexibility of operations, and reduces long-term dependence on skilled operators, thus meeting the urgent needs of modern high-end manufacturing, large-scale engineering construction, and other fields for the intelligent and unmanned upgrading of heavy equipment.

[0043] This invention will be used in the slewing crane project produced by the Port Machinery Division of Dalian Huarui Heavy Industry Group Co., Ltd.

[0044] The development of an intelligent fixed rotary crane has greatly enhanced the core competitiveness of rotary crane products in the market. Meanwhile, the cost of a single intelligent fixed rotary crane is 40 million yuan. Based on the Port Machinery Division's annual production of two intelligent fixed rotary cranes, this can increase the company's annual output value by 80 million yuan.

[0045] Example Taking an 800t stationary rotary crane as an example, the control process of an intelligent stationary rotary crane is explained. For example... Figure 4 As shown: Step 1: The stationary rotary crane begins operation, and the intelligent stationary rotary crane control function is activated; Step 2: The intelligent underlying hardware unit of the slewing crane starts working, acquiring the positioning and attitude detection data of the hoisted object and the real-time position value data of each mechanism, while activating the corresponding safety protection functions; Step 3: Based on the control commands entered into the intelligent rotary crane control unit, perform intelligent control of the corresponding mechanisms; Step 4: When the intelligent underlying hardware unit of the slewing crane issues a risk warning, it terminates the operation of the corresponding mechanism, issues an alarm, and switches to manual intervention. Step 5: After manual intervention is completed, the intelligent rotary crane control unit re-enters all control commands to perform intelligent control of the corresponding mechanisms; Step Six: Repeat steps two through five until the operation is completed, then turn off the intelligent fixed rotary crane control function.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent fixed rotary crane, characterized in that, include: The conventional hardware units of a slewing crane include a gantry mechanism, a slewing mechanism, a luffing mechanism, a hoisting mechanism, a machine room mechanism, and an operator's cab mechanism, used to perform lifting operations; The intelligent underlying hardware unit of the slewing crane includes a posture detection device, a slewing positioning device, a luffing positioning device, a hoisting positioning device, a safety detection device, and a vibration online monitoring device, which are used to collect detection data during the hoisting operation and transmit it to the intelligent slewing crane control unit. The intelligent slewing crane control unit includes an onboard control system and an intelligent auxiliary control system. It is used to receive detection data transmitted from the intelligent underlying hardware unit of the slewing crane, and to control the conventional hardware unit of the slewing crane to perform hoisting operations based on the detection data using an intelligent hoisting operation auxiliary control method.

2. The intelligent fixed rotary crane according to claim 1, characterized in that, The pose detection device includes a laser scanner and a high-definition camera installed at the end of the boom, as well as a point cloud processing server and an image processing server installed in the PLC room. The pose detection device is used to acquire real-time position data and real-time attitude data of the hoisted object and the working environment.

3. The intelligent fixed rotary crane according to claim 1, characterized in that, The slewing positioning device includes a Gray busbar encoder mounted on the slewing platform for detecting the real-time slewing angle of the slewing mechanism; the luffing positioning device includes an inclinometer mounted at the base of the boom for detecting the real-time luffing angle of the luffing mechanism; the hoisting positioning device includes a main hoisting encoder and an auxiliary hoisting encoder mounted in the machine room, and a hook slewing encoder mounted on the main hook. The main hoisting encoder is used to detect the real-time position value of the main hoisting wire rope, the auxiliary hoisting encoder is used to detect the real-time position value of the auxiliary hoisting wire rope, and the hook slewing encoder is used to detect the real-time slewing angle of the main hook.

4. The intelligent fixed rotary crane according to claim 1, characterized in that, The security detection device includes millimeter-wave radar, laser anti-collision device, weighing sensor, and an anemometer, used to detect collision risk, overload risk, and strong wind risk during hoisting operations. The sensors are used to detect the weight of the corresponding hoisted object to determine overload. The anemometer is used to detect the real-time wind speed in the work area for high wind warning detection.

5. The intelligent fixed rotary crane according to claim 1, characterized in that, The vibration online monitoring device includes a status monitoring host and a data aggregation switch installed in the PLC room, as well as vibration monitoring sensors installed at various key parts of the slewing crane. The vibration monitoring sensors are used to collect vibration data from various key parts and transmit it to the status monitoring host via the data aggregation switch. The status monitoring host processes the received vibration data to determine the vibration status of each key part and transmits the determination result to the intelligent slewing crane control unit via the data aggregation switch.

6. The intelligent fixed rotary crane according to claim 1, characterized in that, The intelligent rotary crane control unit determines the given speed values ​​of each mechanism based on the target position and the current actual position; The main hook hoisting speed setpoint is as follows: V 主 =min((2×a 主 ×(H 主实际 -H 主目标 )) 0.5 ,V 主max ) Among them, a 主 Main hook lifting acceleration, H 主实际 Actual height of main hook, H 主目标 Main hook target height, V 主max The maximum permissible operating speed for main hook hoisting; The setpoint speed for the auxiliary hook lifting is as follows: V 副 =min((2×a 副 ×(H 副实际 -H 副目标 )) 0.5 ,V 副max ) Among them, a 副 H is the lifting acceleration of the auxiliary hook. 副实际 H represents the actual height of the auxiliary hook. 副目标 V represents the target height of the secondary hook. 副max The maximum permissible operating speed for the auxiliary hook lifting; The given speed values ​​for the luffing mechanism are as follows: V 变幅 =min((2×a 变幅 ×(S 变幅实际 -S 变幅目标 )) 0.5 ,V 变幅max ) Among them, a 变幅 S is the linear acceleration of the luffing mechanism. 变幅实际 S is the length of the wire rope when the luffing mechanism is at the current angle. 变幅目标 V is the length of the wire rope when the luffing mechanism reaches the target angle. 变幅max The maximum permissible operating speed for the luffing mechanism; The given speed values ​​for the rotary mechanism are as follows: V 回转 =K 回转 ×min((2×α 回转 ×(θ 回转实际 -θ 回转目标 )) 0.5 Oh, oh 回转max ) Among them, K 回转 To convert the linear velocity of the rotary motor to the angular velocity of the rotary mechanism, α 回转 θ is the angular acceleration of the rotary mechanism. 回转实际 θ represents the actual angle of the rotary mechanism. 回转目标 For the target angle of the rotary mechanism, ω 回转max The maximum permissible angular velocity for the rotary mechanism; The given speed values ​​for hook rotation are as follows: V 吊钩 =K 吊钩 ×min((2×α 吊钩 ×(θ 吊钩实际 -θ 吊钩目标 )) 0.5 Oh, oh 吊钩max ) Among them, K 吊钩 To convert the linear velocity of the hook slewing motor to the angular velocity of the hook slewing mechanism, α 吊钩 Let θ be the angular acceleration of the hook slewing mechanism. 吊钩实际 θ represents the actual angle of the hook slewing mechanism. 吊钩目标 ω is the target angle of the hook slewing mechanism. 吊钩max This refers to the maximum permissible angular velocity of the hook slewing mechanism.

7. The intelligent fixed rotary crane according to claim 1, characterized in that, The intelligent slewing crane control unit calculates the real-time position values ​​of the slewing mechanism, luffing mechanism, hoisting mechanism, and hook slewing mechanism in the following manner: Main hook real-time height value: H 主钩 =H 绞点 +L 臂架主钩 ×sin(90°-Φ)-(L 主绳 -L 主绳收绳 -L 主绳固定 )÷N 主绳 -H 主钩高 Real-time height of auxiliary hook: H 副钩 =H 绞点 +L 臂架副钩 ×sin(90°-Φ)-(L 副绳 -L 副绳收 -L 副绳固定 )÷N 副绳 -H 副钩高 Real-time angle value of amplitude variation: F=F 倾角仪 Real-time rotation angle value: oh 回转 =360°×S 回转 ÷(π×D 编码尺 ) Real-time slewing angle of the main hook: oh 主钩回转 =360°×S 主钩回转 ÷S 主钩全回转 Among them, H 绞点 L represents the height of the boom hinge point from the quay surface. 臂架主钩 Φ is the length from the main hook position at the boom end to the boom hinge position, Φ is the real-time luffing angle, and L is the length from the main hook position at the boom end to the boom hinge position. 主绳 The total length of the main hook wire rope, L 主绳收绳 The main hook wire rope take-up length, L, measured by the main hoisting encoder. 主绳固定 The length of the main hook wire rope from the exit end of the main hoisting drum to the exit end of the main hook pulley at the end of the boom, N. 主绳 H is the ratio of the pulley block consisting of the main hook pulley at the boom end and the pulley at the top of the main hook. 主钩高 The height of the main hook structure itself; L 副绳 For the total length of the auxiliary hook wire rope, L 副绳收绳 L is the length of the secondary hook wire rope taken up by the secondary lifting encoder. 副绳固定 The length of the auxiliary hook wire rope, N, is the distance from the rope exiting the auxiliary hoisting drum to the rope exiting the auxiliary hook pulley at the end of the boom. 副绳 H is the ratio of the pulley block consisting of the auxiliary hook pulley at the end of the boom and the upper pulley of the auxiliary hook. 副钩高 Φ is the height of the auxiliary hook structure itself. 倾角仪 S is the real-time angle value of the amplitude change measured by the inclinometer. 回转 D represents the stroke value measured by the Gray busbar encoder when the slewing mechanism is at its current slewing angle. 编码尺 The diameter of the mounting rail for the Gray busbar encoder ruler, S 主钩回转 The stroke value S measured by the hook rotation encoder when the main hook is at the current rotation angle. 主钩全回转 The stroke value measured by the hook rotation encoder when the main hook rotates one revolution.

8. The intelligent fixed rotary crane according to claim 1, characterized in that, The intelligent slewing crane control unit includes a frequency converter cabinet, a PLC control cabinet, and a control console. The frequency converter cabinet includes frequency converters that drive each mechanism. The PLC control cabinet has a built-in PLC module and a switch. The PLC module transmits control commands to each frequency converter via the switch. The PLC module receives detection data transmitted from each device of the intelligent underlying hardware unit of the slewing crane via the switch. The control console is equipped with slewing crane operating elements for manual operation and an auxiliary operating platform for setting and issuing intelligent auxiliary operation commands. Positioning and attitude detection data obtained from point cloud processing and image processing servers are received via the switch and used for determining the safety of hoisting operations. The PLC module receives detection data from the Gray busbar encoder in the slewing positioning device, the inclinometer in the luffing positioning device, and the main hoisting encoder, auxiliary hoisting encoder, and hook slewing encoder in the hoisting positioning device via a switch, and uses this data to acquire slewing angle, luffing angle, main hoisting height, auxiliary hoisting height, and main hook slewing angle. The PLC module receives intelligent auxiliary operation commands from the auxiliary operation platform on the control console via a switch, which are used for intelligent auxiliary action control of multi-mechanism collaboration. The PLC module receives signals from the millimeter-wave radar and laser anti-collision devices in the security detection device, which are collected by the DI module, and is used for anti-collision protection. The PLC module receives detection data from the main hook weighing sensor, auxiliary hook weighing sensor, and anemometer in the security detection device, which are collected by the AI ​​module, and is used for overload and wind protection. The PLC module receives abnormal vibration signals from key components determined by the status monitoring host in the security detection device via a switch, and uses them to suppress abnormal vibration control. The control console is equipped with slewing crane operating elements for manual operation by the operator, as well as an auxiliary operating platform for the operator to set and issue intelligent auxiliary operation commands.

9. The intelligent fixed rotary crane according to claim 1, characterized in that, The conventional hardware units of the slewing crane include a gantry mechanism, a slewing mechanism, a luffing mechanism, a hoisting mechanism, a machine room mechanism, and a driver's cab mechanism; The gantry mechanism is located at the bottom of the rotary crane and serves as a support structure for the rotary crane; The slewing mechanism is located above the gantry mechanism and includes a slewing structure, a slewing motor, and a slewing gearbox. It is used to drive the luffing mechanism, hoisting mechanism, machine room mechanism, and driver's cab mechanism, which are installed above the slewing mechanism, to perform a slewing motion as a whole. The luffing mechanism is located above the slewing mechanism and includes a boom structure, luffing pulleys and their rope system, as well as a luffing motor, luffing drum and luffing gearbox located inside the machine room mechanism, used to realize the overall raising and lowering of the boom. The hoisting mechanism is located above the slewing mechanism and includes a main hook structure, a main hook pulley and its rope system, a hook slewing motor, an auxiliary hook structure, an auxiliary hook pulley and its rope system, as well as a main hoisting motor, a main hoisting drum, a main hoisting gearbox, an auxiliary hoisting motor, an auxiliary hoisting drum and an auxiliary hoisting gearbox located inside the machine room mechanism, for realizing the raising, lowering and slewing actions of the main hook and the raising and lowering actions of the auxiliary hook; The machine room structure is located above the slewing mechanism and has a machine room structure. The machine room structure is used to support and install the luffing motor, luffing drum, luffing gearbox, main hoisting motor, main hoisting drum, main hoisting gearbox, auxiliary hoisting motor, auxiliary hoisting drum, auxiliary hoisting gearbox, as well as the frequency converter and PLC control cabinet in the intelligent slewing crane control unit. The driver's cab mechanism is located above the slewing mechanism and has a driver's cab structure, which is used to support and install the control console in the intelligent slewing crane control unit.

Images