Crane and control method and control device therefor

Abstract

The application provides a crane and a control method and a control device thereof, the control method comprising the following steps: controlling a running mechanism to move to the top of a liquid slag ladle according to the initial position of the running mechanism obtained by a positioning device, the current position in the moving process and the positioning position of the liquid slag ladle; determining whether a lifting tool assembly is lowered to a target position according to the rope length information of at least one of a first traction rope and a second traction rope measured by a rope length encoder and the weight information of the lifting tool assembly collected by a weighing device; in the case that the lifting tool assembly is lowered to the target position, controlling the first lifting mechanism to stop running and controlling the second lifting mechanism to reversely run, the second traction rope is reeled in, a turnover structure drives the liquid slag ladle to turn over, in the case that the rope length of the second traction rope reeled in measured by the rope length encoder reaches a first length, controlling the second lifting mechanism to stop reversely running, the accurate alignment of the lifting tool assembly and the liquid slag ladle is realized, and the turnover angle is controllable.

Description

Technical Field

[0001] This invention relates to the field of lifting equipment technology, and in particular to a crane and its control method and control device. Background Technology

[0002] Currently, in non-ferrous metallurgical production, high-temperature waste slag is discharged by turning over a slag bag using a double-lifting bridge crane. Most related technologies rely on manual visual inspection and manual operation for aligning the lifting device with the slag bag and turning the bag. However, misalignment between the lifting device and the slag bag is prone to occur, posing a risk of impact to the slag bag during lowering, leading to deformation or cracking. Furthermore, during the turning and dumping process, there are issues such as excessive turning angle causing the slag bag to become unstable and overturn, and insufficient turning angle resulting in incomplete slag dumping. Summary of the Invention

[0003] This invention provides a crane and its control method and device to solve the problems of poor alignment accuracy and uncontrollable tilting angle in the related technology when tilting and discharging slag bags, so as to achieve accurate alignment between the lifting device assembly and the liquid slag bag and controllable tilting angle.

[0004] This invention provides a control method for a crane, the crane including a running mechanism, the running mechanism including a first hoisting mechanism, a second hoisting mechanism, a lifting device, a positioning device, a weighing device, and a rope length encoder, the lifting device including a rotatably connected lifting device and a tilting structure, the first hoisting mechanism being connected to the lifting device via a first traction rope, and the second hoisting mechanism being connected to the tilting structure via a second traction rope, the control method including: Based on the initial position of the operating mechanism, the current position during the movement, and the positioning position of the liquid sludge bag obtained by the positioning device, the operating mechanism is controlled to move directly above the liquid sludge bag. The first and second lifting mechanisms are controlled to operate simultaneously, and the first and second traction ropes are lowered synchronously to cause the lifting device assembly to descend. The determination of whether the lifting assembly has descended to the target position is based on the rope length information of at least one of the first and second traction ropes measured by the rope length encoder and the weight information of the lifting assembly collected by the weighing device. When the lifting assembly descends to the target position, the first lifting mechanism is controlled to stop operating, and the second lifting mechanism is controlled to reverse, the second traction rope is wound up, and the flipping structure drives the liquid slag bag to flip. When the length of the second traction rope wound up, as measured by the rope length encoder, reaches the first length, the second lifting mechanism is controlled to stop reversing.

[0005] According to a crane control method provided by the present invention, the step of determining whether the lifting assembly has descended to the target position based on the rope length information of at least one of the first traction rope and the second traction rope measured by the rope length encoder and the weight information of the lifting assembly collected by the weighing device specifically includes: When the length of the first traction rope and / or the second traction rope reaches the second length and the reduction in the weight of the lifting assembly reaches the first weight threshold, it is determined that the lifting assembly has descended to the target position.

[0006] According to a crane control method provided by the present invention, the step of determining whether the lifting assembly has descended to the target position based on the rope length information of at least one of the first traction rope and the second traction rope measured by the rope length encoder and the weight information of the lifting assembly collected by the weighing device further includes: If the reduction in the weight of the lifting device assembly reaches the first weight threshold and the length of the first or second traction rope lowered does not reach the second length, the first and second lifting mechanisms are controlled to run in opposite directions simultaneously, and the first and second traction ropes are wound up synchronously to raise the lifting device assembly, and the operating mechanism is controlled to reset to the initial position.

[0007] According to a crane control method provided by the present invention, the step of determining whether the lifting assembly has descended to the target position based on the rope length information of at least one of the first traction rope and the second traction rope measured by the rope length encoder and the weight information of the lifting assembly collected by the weighing device further includes: If the length of the first traction rope and / or the second traction rope reaches the second length, and the reduction in the weight of the lifting device assembly does not reach the first weight threshold, the first lifting mechanism and the second lifting mechanism shall continue to operate until the reduction in the weight of the lifting device assembly reaches the first weight threshold.

[0008] According to a crane control method provided by the present invention, before the tilting structure drives the liquid slag bag to tilt, the control method further includes: When the increase in the weight of the overturning structure collected by the weighing device reaches the second weight threshold, it is determined that the overturning structure is in contact with the liquid slag bag. The first lifting mechanism and the second lifting mechanism are controlled to run in reverse simultaneously, and the first traction rope and the second traction rope are wound up synchronously. When the lifting assembly rises to the set position, the first lifting mechanism is controlled to stop running in reverse, and the second lifting mechanism continues to run in reverse.

[0009] According to a crane control method provided by the present invention, after controlling the second hoisting mechanism to stop reversing, the control method further includes: Control the operation of the second lifting mechanism, lower the second traction rope, and the flipping structure drives the liquid slag bag to rotate in the opposite direction. When the length of the lowered second traction rope measured by the rope length encoder reaches the third length, control the operation of the second lifting mechanism to stop. The first and second lifting mechanisms are controlled to operate simultaneously, the first and second traction ropes are lowered synchronously, and the lifting device assembly drives the liquid slag bag to descend. When the reduction in the weight of the lifting device assembly collected by the weighing device reaches the third weight threshold, the first lifting mechanism is controlled to stop operating, while the second lifting mechanism continues to operate. The flipping structure causes the hook of the lifting device assembly to detach from the liquid slag bag.

[0010] According to a crane control method provided by the present invention, when the hook of the lifting device assembly disengages from the liquid slag bag, the control method further includes: The first and second lifting mechanisms are controlled to run in opposite directions simultaneously, and the first and second traction ropes are wound up synchronously to raise the lifting assembly. When the lifting assembly rises to its limit position, the operating mechanism is controlled to return to the initial position based on the current position of the operating mechanism during its movement, obtained by the positioning device.

[0011] According to a crane control method provided by the present invention, the positioning device includes a first positioning element and a second positioning element, the running mechanism includes a trolley and a carriage, the carriage being movably mounted on the trolley, the trolley including the first positioning element, and the carriage including a first hoisting mechanism, a second hoisting mechanism, a lifting device assembly, a second positioning element, and a rope length encoder. The method of controlling the running mechanism to move directly above the liquid slag bag based on the initial position, the current position during movement, and the positioning position of the liquid slag bag obtained by the positioning device specifically includes: Based on the initial position and current position of the large vehicle obtained by the first positioning component, the initial position and current position of the small vehicle obtained by the second positioning component, and the positioning position of the liquid sludge bag, the small vehicle is controlled to move directly above the liquid sludge bag.

[0012] The present invention also provides a control device for a crane, comprising: A controller and a memory, wherein the memory stores a program or instructions, and the controller implements the steps of the control method of the first aspect embodiment described above when executing the program or instructions in the memory.

[0013] The present invention also provides a crane, including the control device of the crane described in the second aspect embodiment above.

[0014] The crane and its control method and control device provided by the present invention have a positioning device that obtains the initial position, current position and positioning position of the operating mechanism and the liquid slag bag. Based on this position information, the operating mechanism is controlled to move precisely above the liquid slag bag, ensuring accurate alignment of the lifting equipment components, reducing the risk of collision with the slag bag during the subsequent descent of the lifting equipment components, reducing collision wear, which helps to extend the service life of the crane and the liquid slag bag and reduce maintenance costs.

[0015] During the descent of the lifting equipment assembly, the weighing device collects the weight information of the lifting equipment assembly, and the rope length encoder measures the length information of the lowered rope. By combining the weight information and the rope length information, it is determined whether the lifting equipment assembly has reached the target position, realizing dual verification of weight information and rope length information, improving the accuracy and reliability of the judgment, avoiding misjudgment due to a single signal error, and improving positioning accuracy.

[0016] By precisely controlling the flipping angle with a rope length encoder, over- or under-flipping can be avoided. On the one hand, this ensures the thoroughness of each slag discharge and prevents residue accumulation from affecting the volume of the liquid slag bag. On the other hand, it can prevent the liquid slag bag from tipping over due to an excessive flipping angle, thus improving operational safety and reliability.

[0017] Furthermore, compared to related technologies that rely on manual observation and operation for liquid slag bag alignment and slag turning, the crane control method in this embodiment achieves automated operation, reduces manual intervention, increases production cycle time, and reduces safety risks associated with manual operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this 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 this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is one of the flowcharts of the crane control method provided by the present invention.

[0020] Figure 2 This is the second flowchart of the crane control method provided by the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0022] The following is combined with Figure 1 and Figure 2 The present invention describes a crane and its control method and control device.

[0023] Firstly, such as Figure 1 As shown, this embodiment provides a control method for a crane. The crane includes a running mechanism, which includes a first hoisting mechanism, a second hoisting mechanism, a spreader assembly, a positioning device, a weighing device, and a rope length encoder. The spreader assembly includes a spreader rotatably connected to a tilting structure. The first hoisting mechanism is connected to the spreader via a first traction rope, and the second hoisting mechanism is connected to the tilting structure via a second traction rope. The control method includes: Step 102: Based on the initial position of the operating mechanism, the current position during the movement, and the positioning position of the liquid sludge bag obtained by the positioning device, control the operating mechanism to move directly above the liquid sludge bag. Step 104: Control the first hoisting mechanism and the second hoisting mechanism to operate simultaneously, and lower the first traction rope and the second traction rope synchronously to make the lifting device assembly descend; Step 106: Determine whether the lifting assembly has been lowered to the target position based on the rope length information of at least one of the first and second traction ropes measured by the rope length encoder and the weight information of the lifting assembly collected by the weighing device. Step 108: When the lifting device assembly descends to the target position, control the first lifting mechanism to stop operating and control the second lifting mechanism to run in reverse. The second traction rope is wound up, and the flipping structure drives the liquid slag bag to flip. When the length of the second traction rope wound up, as measured by the rope length encoder, reaches the first length, control the second lifting mechanism to stop running in reverse.

[0024] The crane control method of this embodiment uses a positioning device to acquire the initial position, current position, and positioning position of the slag bag of the operating mechanism. Based on this positional information, the operating mechanism is precisely moved to be directly above the slag bag, ensuring accurate alignment of the lifting equipment components. This reduces the risk of collision with the slag bag during the subsequent descent of the lifting equipment components, reduces collision wear, and helps extend the service life of both the crane and the slag bag, thus lowering maintenance costs. The current position of the operating mechanism can be obtained in real-time from the coordinates of the positioning device, improving the accuracy of the operating mechanism's movement.

[0025] When the operating mechanism moves directly above the liquid slag bag, the first and second lifting mechanisms operate simultaneously, and the first and second traction ropes are lowered synchronously, driving the lifting assembly downwards. During the descent of the lifting assembly, a weighing device collects the weight information of the lifting assembly, and a rope length encoder measures the length of the lowered rope. By combining the weight and rope length information, it is determined whether the lifting assembly has reached the target position, achieving dual verification of weight and rope length information. This improves the accuracy and reliability of the judgment, avoids misjudgment due to a single signal error, and improves positioning accuracy.

[0026] After the lifting assembly descends to the target position, both the first and second lifting mechanisms simultaneously cease their lowering operations. The second lifting mechanism reverses its direction, winding up the second traction rope, which in turn lifts the tilting structure, thereby causing the slag bag to tilt. During the tilting process, a rope length encoder continuously measures the length of the wound rope. When the rope length reaches a predetermined value, the slag bag is determined to have tilted to a preset angle, indicating that the slag bag is in the correct position and the internal slag can be dumped out. Precise control of the tilting angle via the rope length encoder avoids over- or under-tilting. This ensures thorough slag removal with each operation, preventing residue buildup from affecting the slag bag's volume. Furthermore, it prevents the slag bag from tipping over due to excessive tilting angles, thus improving operational safety and reliability.

[0027] Furthermore, compared to related technologies that rely on manual observation and operation for liquid slag bag alignment and slag turning, the crane control method in this embodiment achieves automated operation, reduces manual intervention, increases production cycle time, reduces safety risks associated with manual operation, and meets the demands of modern metallurgical production for high efficiency, safety, and intelligence.

[0028] In some embodiments, determining whether the lifting assembly has descended to the target position is based on the rope length information of at least one of the first and second traction ropes measured by the rope length encoder and the weight information of the lifting assembly collected by the weighing device. Specifically, this includes determining that the lifting assembly has descended to the target position when the rope length of the first and / or second traction ropes reaches a second length and the reduction in the weight of the lifting assembly reaches a first weight threshold.

[0029] In this embodiment, during the lowering of the lifting assembly, when the reduction in the weight of the lifting assembly reaches the first weight threshold, it indicates that the bottom of the lifting assembly is in contact with the ground. In other words, when the weighing device detects a significant reduction in the weight of the lifting assembly, it can be determined that the lifting assembly has contacted the ground. At this time, the length of the lowered rope reaches the preset second length, confirming that the lifting assembly has been lowered into place.

[0030] By verifying the travel position using both weight and rope length, misjudgments caused by uneven ground or instantaneous fluctuations in the sensor are effectively avoided, thus improving the stability and adaptability of the positioning.

[0031] In some embodiments, determining whether the lifting assembly has descended to the target position is based on the rope length information of at least one of the first and second traction ropes measured by the rope length encoder and the weight information of the lifting assembly collected by the weighing device. Specifically, it further includes: if the reduction in the weight of the lifting assembly reaches a first weight threshold and the length of the rope lowered by the first or second traction rope does not reach a second length, controlling the first and second lifting mechanisms to run in opposite directions simultaneously, and the first and second traction ropes to be wound up synchronously to raise the lifting assembly, and controlling the operating mechanism to reset to the initial position.

[0032] In this embodiment, when the reduction in weight of the lifting device component reaches the first weight threshold, but the rope length has not yet reached the second length, it indicates that the lifting device component has touched the ground, and the lowered rope length has not reached the preset value. There may be abnormal situations such as the lifting device component touching the ground prematurely or the rope length encoder malfunctioning. At this time, the lifting device component is controlled to rise and the operating mechanism is reset to avoid equipment damage or malfunction caused by forced lowering.

[0033] This anomaly detection and automatic rollback mechanism further enhances the system's fault tolerance and intelligence, ensuring the safety and reliability of the operation process.

[0034] In some embodiments, determining whether the lifting assembly has descended to the target position is based on the rope length information of at least one of the first and second traction ropes measured by the rope length encoder and the weight information of the lifting assembly collected by the weighing device. Specifically, it further includes: if the rope length of the first and / or second traction ropes reaches the second length and the reduction in weight of the lifting assembly does not reach the first weight threshold, controlling the first and second lifting mechanisms to continue operating until the reduction in weight of the lifting assembly reaches the first weight threshold.

[0035] In this embodiment, when the rope length has reached the preset second length, but the reduction in the weight of the lifting device assembly has not yet reached the first weight threshold, it indicates that the lifting device assembly has not yet touched the ground. At this time, the traction rope can continue to be lowered until the lifting device assembly touches the ground, ensuring that the lifting device assembly can be lowered into place.

[0036] In some embodiments, before the flipping structure causes the liquid slag bag to flip, the control method further includes: when the increase in the weight of the flipping structure collected by the weighing device reaches a second weight threshold, determining that the flipping structure is in contact with the liquid slag bag, controlling the first lifting mechanism and the second lifting mechanism to run in reverse simultaneously, the first traction rope and the second traction rope to be wound up synchronously, and when the lifting assembly rises to a set position, controlling the first lifting mechanism to stop running in reverse, and the second lifting mechanism to continue running in reverse.

[0037] In this embodiment, when the lifting assembly descends to the target position, both the first and second lifting mechanisms stop operating, while the second lifting mechanism reverses its direction, and the second traction rope retracts, causing the tilting structure to rotate and lift relative to the lifting assembly. When the weighing device detects a significant increase in the weight of the tilting structure, it indicates that the tilting structure is in contact with the bottom of the liquid slag bag and is under load. Then, the first and second lifting mechanisms are controlled to simultaneously reverse their directions. After the lifting assembly lifts the entire liquid slag bag to the set position, the first lifting mechanism stops, and the second lifting mechanism continues to reverse its direction, causing the tilting structure to tilt the liquid slag bag, completing the slag dumping operation.

[0038] During this stage, a weighing device monitors the contact state between the tilting structure and the liquid slag bag. This ensures that the liquid slag bag is lifted off the ground and put into the slag dumping process only after the tilting structure has fully borne pressure, avoiding the risk of uneven loading or slippage during the tilting process due to incomplete contact between the tilting structure and the liquid slag bag. This mechanism judges the contact state in real time through weight changes, effectively improving the stability and safety of the slag dumping operation.

[0039] It is worth noting that before the second lifting mechanism drives the tilting structure to rotate and lift, the trunnion of the liquid slag bag is hooked to the hook of the lifting device assembly.

[0040] In some embodiments, after controlling the second lifting mechanism to stop reversing, the control method further includes: controlling the second lifting mechanism to operate, lowering the second traction rope, and causing the slag bag to rotate in the reverse direction using a tilting structure; when the length of the lowered second traction rope measured by the rope length encoder reaches a third length, controlling the second lifting mechanism to stop operating; controlling the first lifting mechanism and the second lifting mechanism to operate simultaneously, lowering the first traction rope and the second traction rope synchronously, and causing the lifting device to lower the slag bag; when the reduction in the weight of the lifting device collected by the weighing device reaches a third weight threshold, controlling the first lifting mechanism to stop operating, the second lifting mechanism to continue operating, and causing the tilting structure to disengage the hook of the lifting device from the slag bag.

[0041] In this embodiment, after the slag dumping operation is completed, the second lifting mechanism is controlled to lower the traction rope, causing the tilting structure to return the liquid slag bag to its upright position. During this process, the lowering length of the second traction rope is monitored in real time by a rope length encoder. When the preset third length is reached, it indicates that the liquid slag bag has been leveled, at which point the second lifting mechanism is controlled to stop lowering.

[0042] Subsequently, the first and second lifting mechanisms are lowered simultaneously, causing the lifting assembly to descend along with the entire liquid slag bag. When the weighing device detects that the weight reduction of the lifting assembly reaches the third weight threshold, it indicates that the liquid slag bag has landed and the vertical load is now borne by the ground. At this point, the first lifting mechanism stops operating, the second lifting mechanism continues to lower, and the tilting structure disengages the hook from the trunnion of the liquid slag bag, completing the unhooking operation.

[0043] By detecting the length of the lowered rope, it is ensured that the liquid slag bag accurately reaches a horizontal position during the return process, avoiding difficulties in unhooking or instability of the liquid slag bag due to angular deviation. At the same time, the landing status of the liquid slag bag is judged by the weight change, realizing automatic separation of the hook and the trunnion of the liquid slag bag without manual intervention. This simplifies the operation process, avoids the high temperature hazard caused by manual hook removal, and helps to further improve the automation level of slag turning and dumping.

[0044] In some embodiments, when the hook of the spreader assembly detaches from the liquid slag bag, the control method further includes: controlling the first lifting mechanism and the second lifting mechanism to run in opposite directions simultaneously, and the first traction rope and the second traction rope to be wound up synchronously to raise the spreader assembly; when the spreader assembly rises to the limit position, controlling the operating mechanism to return to the initial position based on the current position of the operating mechanism during its movement obtained by the positioning device.

[0045] In this embodiment, after the unhooking operation is completed, the first and second lifting mechanisms are controlled to operate synchronously in opposite directions, winding up the first and second traction ropes to raise and reset the spreader assembly. When the spreader assembly rises to its limit position, the current position of the operating mechanism during the movement is obtained in real time through the positioning device, and the operating mechanism is controlled to return to its initial position.

[0046] The positioning device accurately obtains the real-time position of the operating mechanism during its movement, ensuring that the operating mechanism can accurately return to the initial position and complete a single fully automatic operation cycle. It can receive instructions to execute the next round of slag transfer and unloading process, thus forming a closed-loop automated operation process, reducing manual intervention and improving overall operation efficiency and safety.

[0047] Optionally, during the process of synchronously winding the first traction rope and the second traction rope to drive the spreader assembly to the limit position, the winding length of at least one of the first traction rope and the second traction rope can be measured by a rope length encoder to determine whether it has reached the fourth length, thereby achieving dual verification of mechanical limits and rope length measurement limits, and ensuring that the spreader assembly can reliably rise to the limit position.

[0048] Optionally, a single rope length encoder can be used to detect the rope length during the entire transfer and slag discharge process. Alternatively, multiple rope length encoders can be used, each performing rope length detection at different stages. The specific configuration can be adjusted according to actual needs.

[0049] In some embodiments, the positioning device includes a first positioning element and a second positioning element, and the operating mechanism includes a trolley and a trolley. The trolley is movably mounted on the trolley. The trolley includes the first positioning element, and the trolley includes a first lifting mechanism, a second lifting mechanism, a lifting device assembly, the second positioning element, and a rope length encoder. Based on the initial position of the operating mechanism, the current position during the movement, and the positioning position of the liquid slag bag obtained by the positioning device, the operating mechanism is controlled to move directly above the liquid slag bag. Specifically, this includes: based on the initial position and current position during the movement of the trolley obtained by the first positioning element, the initial position and current position during the movement of the trolley obtained by the second positioning element, and the positioning position of the liquid slag bag, the trolley is controlled to move directly above the liquid slag bag.

[0050] In this embodiment, the positioning device includes a first positioning component and a second positioning component. The first positioning component acquires the initial position and current position of the trolley during its movement, while the second positioning component acquires the initial position and current position of the trolley during its movement. Combined with the positioning position of the liquid slag bag, the device controls the trolley to move precisely above the liquid slag bag. The first and second positioning components accurately monitor the real-time positions of the trolley and trolley, respectively, preventing collisions between the lifting equipment and the liquid slag bag during lowering due to alignment deviations. This achieves automated control while improving the reliability and safety of the liquid slag bag transfer and unloading process, and helps reduce maintenance costs.

[0051] Optionally, the weighing device includes a first weighing module and a second weighing module. The first weighing module is used to collect the weight information of the entire lifting device assembly, and the second weighing module is used to collect the weight information of the overturning structure.

[0052] Optionally, both the first and second positioning components are absolute address positioning devices based on code strips. These devices can output the absolute coordinates of the large and small vehicles in real time by reading the position codes on the code strips.

[0053] In a specific embodiment, such as Figure 2 As shown, the dual-lifting intelligent lifting control system, adapted for metallurgical slag bag transfer and slag dumping operations, includes: The traveling and translating mechanism (operating mechanism) includes a trolley traveling mechanism and a trolley translating mechanism. The trolley frame is equipped with two independent lifting winch drive units (first lifting mechanism and second lifting mechanism). The sides of the trolley and trolley travel are equipped with absolute address positioning devices (positioning devices) with code strips, which are used to collect the precise lateral coordinates of the trolley and longitudinal coordinates of the trolley in real time.

[0054] The main hoisting unit (first hoisting mechanism) includes a main hoisting motor, a main drum, and a main load-bearing wire rope (first traction rope), which mainly bears the overall vertical load of the slag bag and lifting gear. The auxiliary hoisting unit (second hoisting mechanism) includes an auxiliary hoisting motor, an auxiliary drum, an auxiliary wire rope (second traction rope), and a tilting arm assembly (tilting structure). One end of the auxiliary wire rope is wound around the auxiliary drum, and the other end is hinged to the tilting arm. The tilting arm rests against the bottom side of the slag bag and is specifically designed to provide the tilting torque for the slag bag.

[0055] Load detection component (weighing device): The trolley frame integrates a trolley weighing system to collect the total load weight signal of the entire lifting gear and slag bag in real time. Stroke measurement component (rope length encoder): An encoder (rope length encoder) is installed at the end of the wire rope drum to measure the length of the auxiliary lifting wire rope in real time.

[0056] The lifting device is equipped with a double hook structure, which is hooked to the trunnions on both sides of the slag bag; the tilting arm is a rigid support arm, with one end hinged to the trolley frame and the other end pressing against the bottom of the slag bag, and is tilted and lifted by the auxiliary steel wire rope.

[0057] The electrical signal terminal of the absolute address positioning device is connected to the PLC controller of the whole machine, and the mechanical sensing terminal is attached to the code tape scale on the side of the trolley and the main hoisting motor. The main hoisting motor, auxiliary hoisting motor, trolley traveling motor, and trolley translation motor are all controlled by the PLC frequency conversion drive module for start / stop, forward / reverse rotation, and speed. The analog weight signal and drum encoder pulse count signal of the trolley weighing system are all connected to the PLC signal acquisition port.

[0058] Relying on PLC timing logic, the entire process of alignment, lowering, flipping, unloading, unhooking, and returning to position is fully autonomous. It constructs a triple signal interlock of weighing, encoder, and code tape absolute positioning, meaning that the next action cannot be started if the previous process does not meet the standard. From the control logic, it reduces accidents such as slag bag tipping, rope breakage, bag falling, and over-release, and improves the safety and reliability of operation.

[0059] In detail, such as Figure 2 As shown, the initial standby precise positioning is as follows: the trolley and the crane stop at the initial safety limit position on the track, the lifting device stays at the upper limit position of the lifting, the code tape absolute address positioning device collects the initial coordinates and stores the reference value; the PLC issues a translation command, the motors of the trolley and crane translation mechanism start, and relying on the real-time coordinate feedback of the code tape positioning, the crane is driven to accurately travel to the coordinate point directly above the slag bag to be operated. After the alignment is completed, the translation motor is locked and braked.

[0060] Synchronous lowering of the lifting device: The PLC outputs a synchronous operation signal, and the main and auxiliary lifting motors rotate synchronously in the forward direction. The main and auxiliary drums release the wire rope synchronously, and the lifting device is lowered vertically. During the lowering process, the trolley weighing system continuously collects the total weight value and compares the load changes in real time. If the weighing system detects a significant decrease in the total weight, it determines that the bottom of the lifting device has contacted the ground, and the PLC immediately controls the main and auxiliary lifting motors to stop the lowering operation. If there is no significant change in weight, the synchronous lowering action continues.

[0061] After the lifting device stops lowering, the value of the drum encoder is read to determine whether the lowering length of the wire rope has reached the set length (second length). If yes, the slag bag turning operation is started. If no, the PLC starts the reset logic, the code tape positioning device calibrates the coordinates, and the trolley and carriage translation mechanism is controlled to return to the initial standby position and the alignment process is re-executed.

[0062] The auxiliary lifting drive tilting arm is raised, and the slag bag is lifted as a whole: the auxiliary lifting motor starts and rotates in reverse, the auxiliary drum retracts the auxiliary wire rope, and the tilting arm is pulled upward and rotated. The head of the tilting arm is rigidly pressed against the bottom of the slag bag and bears the side support load of the slag bag. When the tilting arm is fully under pressure, the PLC controls the auxiliary lifting motor to briefly stop and reverse. The PLC issues a synchronous lifting command, and the main lifting motor and auxiliary lifting motor rotate synchronously in reverse. The two sets of drums synchronously retract the rope, driving the lifting device and slag bag to be lifted upward and off the ground.

[0063] The main hoisting motor stops operating, while the auxiliary hoisting motor continues to reverse. During the lifting of the tilting arm, the encoder continuously counts the length of the auxiliary hoisting wire rope to determine the progress of the slag bag tilting. If the preset tilting rope length is not reached, the auxiliary hoisting motor continues to reverse and retract the rope, gradually increasing the tilting angle. When the encoder count reaches the preset rope retraction stroke, it is determined that the slag bag has tilted in place and the internal slag has been completely dumped and discharged. The PLC then controls the auxiliary hoisting motor to stop the reverse operation.

[0064] The tilting arm resets, and the entire slag bag is lowered to the ground: The auxiliary lifting motor switches to forward rotation mode, the auxiliary drum slowly releases the auxiliary wire rope, the tilting arm rotates downwards to reset, and the encoder continuously monitors the rope release length. When the count matches the preset stroke when the tilting arm is completely flat, the auxiliary lifting motor stops rotating forward. The PLC issues a synchronous lowering command again, and the main and auxiliary lifting motors rotate synchronously in the forward direction, and the drum releases the rope synchronously, smoothly lowering the entire slag bag to the ground support position. During the lowering process, the weighing system continuously monitors the load value. When a significant decrease in total weight is detected, it is determined that the slag bag has completely landed and the vertical load is borne by the ground.

[0065] Automatic disengagement of the hook from the trunnion of the slag bag: The PLC controls the main hoisting motor to stop its downward movement, while the auxiliary hoisting motor continues to rotate forward. The auxiliary drum slightly releases the rope, causing the tilting arm to gently push the slag bag, causing the hook to disengage from the trunnions on both sides of the slag bag. After the hook is completely disengaged from the trunnions of the slag bag, the auxiliary hoisting motor stops rotating.

[0066] The lifting device is raised and reset, and the entire machine returns to its initial position: The PLC outputs a synchronous reverse command, and the main and auxiliary lifting motors synchronously reverse the rope, vertically lifting the unloaded lifting device to the upper limit safety position. The absolute address positioning device with a code strip calibrates the coordinate positions of the trolley and carriage in real time throughout the process. The PLC drives the translation mechanism of the trolley and carriage to accurately return to the preset initial limit standby position. The entire machine returns to the start state of operation, completing a single fully automatic operation cycle, and can receive commands to start the next round of slag transfer and unloading process.

[0067] The main hoist bears the vertical gravity load of the slag bag throughout its entire operation, while the auxiliary hoist independently outputs a tilting torque to achieve the slag dumping action. Absolute positioning via a code strip ensures precise alignment between the running mechanism and the liquid slag bag. A weighing system identifies the landing status of the lifting device, the load on the tilting arm, and the slag bag's landing status. A drum encoder accurately measures the tilting stroke and the length of the lowering rope. These three sensor signals are fed back to the PLC controller in real time. The controller automatically controls the forward and reverse rotation, start and stop of each motor according to a preset logic sequence, requiring no manual operation. This completes a fully automated closed-loop operation, including alignment, lowering, tilting and dumping, resetting and unhooking, and hoisting back to position. Simultaneously, the encoder and positioning device dual-verify the stroke position, reducing safety malfunctions caused by over-releasing, over-winding, or misalignment.

[0068] Among these, the load change signal serves as the core criterion for determining whether the lifting device touches the ground, the slag bag lands, or the tilting arm is under load; without a weight reduction signal, the process is not allowed to proceed to the next stage. The auxiliary lifting tilting angle is precisely quantified using a rope length encoder to avoid over-tilting leading to overturning or under-tilting causing incomplete slag removal.

[0069] The coordinates of the code strip are calibrated before and after each round of operation to ensure consistent alignment accuracy and avoid collisions between the lifting equipment and the slag bag caused by long-term track deviation.

[0070] Automated cyclical operations are unaffected by personnel status, line of sight, or skill level, and can be matched with the continuous output production cycle of smelting furnaces. This eliminates the need for dedicated crane operators and on-site supervisors, reducing long-term labor costs, insurance, and training expenses.

[0071] Secondly, this embodiment provides a crane control device, including a controller and a memory, wherein the memory stores programs or instructions, and the controller implements the steps of the control method described in the first aspect embodiment when executing the programs or instructions in the memory. Therefore, it possesses all the beneficial technical effects of this control method, which will not be elaborated further here.

[0072] Thirdly, this embodiment provides a crane that includes the control device of the crane described in the second aspect embodiment above, and thus possesses all the beneficial technical effects of the control device, which will not be repeated here.

[0073] 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 of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a crane, characterized in that, The crane includes a traveling mechanism, which comprises a first hoisting mechanism, a second hoisting mechanism, a spreader assembly, a positioning device, a weighing device, and a rope length encoder. The spreader assembly includes a rotatably connected spreader and a tilting structure. The first hoisting mechanism is connected to the spreader via a first traction rope, and the second hoisting mechanism is connected to the tilting structure via a second traction rope. The control method includes: Based on the initial position of the operating mechanism, the current position during the movement, and the positioning position of the liquid sludge bag obtained by the positioning device, the operating mechanism is controlled to move directly above the liquid sludge bag. The first and second lifting mechanisms are controlled to operate simultaneously, and the first and second traction ropes are lowered synchronously to cause the lifting device assembly to descend. The determination of whether the lifting assembly has descended to the target position is based on the rope length information of at least one of the first and second traction ropes measured by the rope length encoder and the weight information of the lifting assembly collected by the weighing device. When the lifting assembly descends to the target position, the first lifting mechanism is controlled to stop operating, and the second lifting mechanism is controlled to reverse, the second traction rope is wound up, and the flipping structure drives the liquid slag bag to flip. When the length of the second traction rope wound up, as measured by the rope length encoder, reaches the first length, the second lifting mechanism is controlled to stop reversing.

2. The crane control method according to claim 1, characterized in that, The step of determining whether the lifting assembly has descended to the target position based on the rope length information of at least one of the first and second traction ropes measured by the rope length encoder and the weight information of the lifting assembly collected by the weighing device specifically includes: When the length of the first traction rope and / or the second traction rope reaches the second length and the reduction in the weight of the lifting assembly reaches the first weight threshold, it is determined that the lifting assembly has descended to the target position.

3. The crane control method according to claim 2, characterized in that, The step of determining whether the lifting assembly has descended to the target position based on the rope length information of at least one of the first and second traction ropes measured by the rope length encoder and the weight information of the lifting assembly collected by the weighing device specifically includes: If the reduction in the weight of the lifting device assembly reaches the first weight threshold and the length of the first or second traction rope lowered does not reach the second length, the first and second lifting mechanisms are controlled to run in opposite directions simultaneously, and the first and second traction ropes are wound up synchronously to raise the lifting device assembly, and the operating mechanism is controlled to reset to the initial position.

4. The crane control method according to claim 2, characterized in that, The step of determining whether the lifting assembly has descended to the target position based on the rope length information of at least one of the first and second traction ropes measured by the rope length encoder and the weight information of the lifting assembly collected by the weighing device specifically includes: If the length of the first traction rope and / or the second traction rope reaches the second length, and the reduction in the weight of the lifting device assembly does not reach the first weight threshold, the first lifting mechanism and the second lifting mechanism shall continue to operate until the reduction in the weight of the lifting device assembly reaches the first weight threshold.

5. The crane control method according to any one of claims 1 to 4, characterized in that, Before the flipping structure causes the liquid sludge package to flip, the control method further includes: When the increase in the weight of the overturning structure collected by the weighing device reaches the second weight threshold, it is determined that the overturning structure is in contact with the liquid slag bag. The first lifting mechanism and the second lifting mechanism are controlled to run in reverse simultaneously, and the first traction rope and the second traction rope are wound up synchronously. When the lifting assembly rises to the set position, the first lifting mechanism is controlled to stop running in reverse, and the second lifting mechanism continues to run in reverse.

6. The crane control method according to any one of claims 1 to 4, characterized in that, After controlling the second hoisting mechanism to stop reversing, the control method further includes: Control the operation of the second lifting mechanism, lower the second traction rope, and the flipping structure drives the liquid slag bag to rotate in the opposite direction. When the length of the lowered second traction rope measured by the rope length encoder reaches the third length, control the operation of the second lifting mechanism to stop. The first and second lifting mechanisms are controlled to operate simultaneously, the first and second traction ropes are lowered synchronously, and the lifting device assembly drives the liquid slag bag to descend. When the reduction in the weight of the lifting device assembly collected by the weighing device reaches the third weight threshold, the first lifting mechanism is controlled to stop operating, while the second lifting mechanism continues to operate. The flipping structure causes the hook of the lifting device assembly to detach from the liquid slag bag.

7. The crane control method according to claim 6, characterized in that, In the event that the hook of the lifting device assembly detaches from the liquid sludge package, the control method further includes: The first and second lifting mechanisms are controlled to run in opposite directions simultaneously, and the first and second traction ropes are wound up synchronously to raise the lifting assembly. When the lifting assembly rises to its limit position, the operating mechanism is controlled to return to the initial position based on the current position of the operating mechanism during its movement, obtained by the positioning device.

8. The crane control method according to any one of claims 1 to 4, characterized in that, The positioning device includes a first positioning element and a second positioning element. The operating mechanism includes a trolley and a trolley, with the trolley movably mounted on the trolley. The trolley includes the first positioning element, and the trolley includes the first lifting mechanism, the second lifting mechanism, the lifting device assembly, the second positioning element, and the rope length encoder. The step of controlling the operating mechanism to move directly above the liquid slag bag based on the initial position, the current position during movement, and the positioning position of the liquid slag bag obtained by the positioning device specifically includes: Based on the initial position and current position of the large vehicle obtained by the first positioning component, the initial position and current position of the small vehicle obtained by the second positioning component, and the positioning position of the liquid sludge bag, the small vehicle is controlled to move directly above the liquid sludge bag.

9. A control device for a crane, characterized in that, include: A controller and a memory, wherein the memory stores a program or instructions, and the controller, when executing the program or instructions in the memory, implements the steps of the method as described in any one of claims 1 to 8.

10. A crane, characterized in that, Includes the crane control device as described in claim 9.

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