Method for adjusting lifting wire rope based on LPS angle of shore crane
Patent Information
- Application Number
- CN202610554986.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-04-24
- Publication Date
- 2026-10-27
AI Technical Summary
[0004]本发明的目的在于提供一种基于岸桥LPS角度调整起升钢丝绳的方法，解决现有技术中吊具姿态感知精度低、传动倍率考量缺失、油缸与钢丝绳无定量关系、调整过程为开环控制的问题，实现起升钢丝绳的差异化精准调整与吊具复合姿态的精准校正，保障钢丝绳受力均衡、角度符合规范，提升岸桥作业的安全性与稳定性
[0015]本发明的有益效果是：本发明通过LPS系统高精度同步采集吊具复合姿态角度与钢丝绳三工况角度，解决了传统人工调绳依赖经验、精度低、效率差的问题；通过将吊具上架定滑轮、油缸、后大梁滑轮纳入整体传动倍率体系，重新定义并计算钢丝绳整体传动总倍率，建立了油缸与钢丝绳、钢丝绳与吊具之间的精准定量换算关系，消除了现有技术中传动倍率考量缺失、动作量无定量联动的缺陷；通过“分姿态计算-叠加-三角度精准校准”得到每根钢丝绳的精准调整量，再经整体传动总倍率反推油缸实际运动量，实现了四根钢丝绳的差异化精准调整，避免了单根绳受力过载和过度摩擦；通过“计算-执行-测试-修正”的全闭环控制逻辑，以LPS实测姿态角为验证标准进行闭环修正，确保吊具前后倾、左右倾、左右旋角度一次调整到位，大幅减少了反复调整次数，显著提升了岸桥作业的安全性与稳定性，延长了钢丝绳使用寿命，并为自动化岸桥的智能维护提供了数据支撑。
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Figure CN122977261A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the technical field of port hoisting wire rope systems, specifically relating to a method for adjusting the hoisting wire rope based on the LPS angle of the quay crane. Background Technology
[0002] Quay cranes (shore-side container cranes) are the core and critical equipment for container handling operations in ports, and their operational efficiency and safety directly determine the overall operational capacity of the port. The hoisting wire rope system, as the core load-bearing and transmission component of the spreader, directly affects the stability of the spreader's posture, the service life of the wire rope, and the safety and efficiency of the quay crane operations through precise control of its extension and stress angle. With the rapid development of port container handling towards high speed, heavy load, and automation, the requirements for the precision of the spreader's posture are becoming increasingly stringent. During operation, the spreader must remain horizontal at all times, and deviations in forward / backward tilt, left / right tilt, and left / right rotation must be controlled within a minimal range. Otherwise, it can easily lead to excessive friction between the wire rope and the pulley groove, fatigue damage caused by overload of a single rope due to wire breakage, and even major safety accidents such as spreader swaying and container detachment.
[0003] Currently, existing technologies still primarily rely on manual rope adjustment. Manual adjustment depends entirely on the operator's experience and judgment. Due to the complex winding of the hoisting wire rope, involving multiple fixed pulleys, movable pulleys, and hydraulic actuators, newcomers struggle to quickly master the rope adjustment technique and cannot operate independently. Even experienced operators need to repeatedly measure data on-site and adjust the wire rope length to match the spreader's posture. This process is time-consuming and labor-intensive, severely impacting the efficiency of quay crane operations. Furthermore, existing technologies lack a systematic consideration of the overall transmission ratio of the wire rope, failing to establish precise quantitative relationships between cylinder actuation and wire rope extension / retraction, and between wire rope extension / retraction and spreader posture changes. The adjustment process is mostly open-loop control, lacking effective feedback and correction mechanisms, resulting in low adjustment accuracy, repetitive work, and an inability to meet the high-precision spreader posture control requirements of automated quay cranes. Summary of the Invention
[0004] The purpose of this invention is to provide a method for adjusting the hoisting wire rope based on the LPS angle of the quay crane, which solves the problems of low accuracy of the spreader posture perception, lack of consideration of transmission ratio, no quantitative relationship between the hydraulic cylinder and the wire rope, and open-loop control in the prior art. It realizes differentiated and precise adjustment of the hoisting wire rope and precise correction of the composite posture of the spreader, ensuring balanced force on the wire rope and conformity of the angle to the specifications, thereby improving the safety and stability of quay crane operations.
[0005] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a method for adjusting the hoisting wire rope based on the LPS angle of a quay crane, comprising the following steps: Step 1: The LPS angle acquisition module mounted on the quay crane spreader is used to collect the composite attitude angle of the spreader in real time and transmit the collected angle data to the quay crane main controller. Step 2: The main controller first calculates the adjustment amount of each wire rope independently according to the composite attitude angle of the spreader, then algebraically superimposes the results to obtain the initial adjustment amount of the composite attitude, and finally combines the measured working condition angle to complete the independent and accurate calibration of each wire rope to obtain the final calibration adjustment amount of each wire rope. Step 3: Based on the overall transmission ratio of the wire rope including the fixed pulley on the lifting device, establish a quantitative conversion relationship between the hydraulic cylinder and the wire rope. The actual movement of the corresponding hydraulic cylinder is deduced from the final calibration adjustment amount of each wire rope. The hydraulic cylinder is then controlled to complete the extension and retraction action to test the effect and achieve precise adjustment test of the wire rope. Step 4: After the wire rope is adjusted, the actual attitude angle of the spreader is collected again through the LPS angle acquisition module. The measured attitude angle is compared with the preset allowable deviation range. If all measured attitude angles are within the allowable deviation range, the adjustment is complete; otherwise, the measured attitude angle is used as the new input, and steps 2 to 4 are repeated until the attitude of the spreader meets the requirements, forming a closed-loop correction.
[0006] Preferably, in step 1, the combined attitude angles of the lifting device include a forward / backward tilt angle θ and a left / right tilt angle. The left and right rotation angles ψ; the three working angles of the wire rope include the measured skew angles α of each of the four hoisting wire ropes. 实测(n#) Measured tension angle γ 实测(n#) Measured torsion angle β 实测(n#) , where n# = 1#, 2#, 3#, 4#.
[0007] Preferably, in step 2, the specific method for independently calculating the adjustment amount of each wire rope based on its posture is as follows: For the forward and backward tilt θ of the spreader, the front rope groups 2# and 3# are adjusted in opposite directions to the rear rope groups 1# and 4#. The calculation formula is as follows: ; For the left and right tilt of the spreader The left rope groups #1 and #2 are adjusted in the opposite direction to the right rope groups #3 and #4. The calculation formula is: ; For the left and right rotation ψ of the lifting sling, the diagonal rope groups 1# and 3# are adjusted in the opposite direction to the diagonal rope groups 2# and 4#. The calculation formula is as follows: ; Where L is the length of the spreader in the front-to-back direction, W is the width of the spreader in the left-to-right direction, and D is the diagonal length of the spreader. .
[0008] Preferably, in step 2, the formula for calculating the algebraic superposition of the three attitude adjustments of a single wire rope is: ΔL 叠加(n#) Where n# = 1#, 2#, 3#, 4#; The amount of wire rope that needs adjustment can be calculated by inputting the transmission ratio i3. i3 is the transmission ratio of the upper pulley of the lifting device, and i2 is the transmission ratio of the rear beam pulley. ΔL 钢丝绳(n#) = ΔL 叠加(n#) × i3.
[0009] Preferably, in step 3, the overall transmission ratio of the wire rope, on which the quantitative conversion relationship between the hydraulic cylinder and the wire rope is established, is composed of the transmission ratio i1 of the lever mechanism and the transmission ratio i2 of the rear beam pulley. Where i1 is the transmission ratio of the lever mechanism, which is determined by the ratio of the lever arm L1 from the point of action of the cylinder to the center of rotation to the lever arm L2 from the point of action of the pulley block to the center of rotation, i.e., i1 = L2 / L1. i2 is the transmission ratio of the rear beam pulley; The overall transmission ratio of the wire rope is denoted as k_total, where k_total = i1·i2; The core formula for calculating the actual motion of the hydraulic cylinder is: ΔL 油缸(n#) = ΔL 叠加(n#) / k 总 = ΔL 叠加(n#) / (i1·i2).
[0010] Preferably, in step 4, the specific method of closed-loop correction is as follows: if the measured attitude angle θ 测 , 测 ψ 测 Any angle exceeding the preset allowable deviation range [θ] 允 , 允 , ψ 允 If the deviation value is Δθ = θ, then the deviation value is determined. 测 Δ = 测 , Δψ = ψ 测 As a new angle input parameter, repeat steps 2 to 4 above, re-acquire the angles of the three working conditions of the wire rope and calculate the adjustment amount of each wire rope and the actual movement amount of the corresponding hydraulic cylinder, drive the hydraulic cylinder to adjust and test the effect until the actual attitude angle of the lifting device tested by LPS all fall within the preset allowable deviation range, and complete the closed-loop correction.
[0011] Preferably, there are four hoisting wire ropes arranged symmetrically along the center of the lifting device. The lifting device is numbered as follows when viewed from above: #1 rear left, #2 front left, #3 front right, and #4 rear right. The left rope group consists of #1 and #2, the right rope group consists of #3 and #4, the front rope group consists of #2 and #3, the rear rope group consists of #1 and #4, and the diagonal rope groups consist of #1 and #3, and #2 and #4. Each wire rope corresponds to a tilting cylinder, and the cylinder number is consistent with the wire rope number.
[0012] Preferably, in step 1, the LPS angle acquisition module includes a light source installed on the trolley platform and a marker point installed on the upper frame of the spreader. The spreader attitude angle and the wire rope working condition angle are obtained by illuminating the marker point with the light source.
[0013] Preferably, in step 4, after the adjustment is completed, the main controller automatically records all the data of this adjustment and establishes a maintenance file for the entire life cycle of the equipment.
[0014] Preferably, in the method, all adjustment amounts and movement amounts are positive for extension / protrusion and negative for shortening / retraction.
[0015] The beneficial effects of this invention are as follows: This invention solves the problems of low accuracy and poor efficiency associated with traditional manual rope adjustment, by using an LPS system to synchronously and accurately acquire the composite attitude angle of the lifting device and the three working conditions angle of the wire rope, relying on experience. By incorporating the fixed pulley, hydraulic cylinder, and rear beam pulley of the lifting device into the overall transmission ratio system, the overall transmission ratio of the wire rope is redefined and calculated, establishing a precise quantitative conversion relationship between the hydraulic cylinder and the wire rope, and between the wire rope and the lifting device. This eliminates the defects of the prior art, such as the lack of consideration for transmission ratio and the absence of quantitative linkage of motion. Furthermore, it achieves precise calibration through "attitude-specific calculation - superposition - three-angle calibration". By obtaining the precise adjustment amount of each wire rope and then using the overall transmission multiplier to inversely calculate the actual movement of the hydraulic cylinder, differentiated and precise adjustment of the four wire ropes is achieved, avoiding overload and excessive friction on a single rope. Through a fully closed-loop control logic of "calculation-execution-testing-correction", closed-loop correction is performed using the measured attitude angle of LPS as the verification standard to ensure that the forward and backward tilt, left and right tilt, and left and right rotation angles of the spreader are adjusted in one go, greatly reducing the number of repeated adjustments, significantly improving the safety and stability of the quay crane operation, extending the service life of the wire ropes, and providing data support for the intelligent maintenance of automated quay cranes. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 The forward and backward tilt angle θ and the left and right tilt angle of the lifting device of this invention are... A schematic diagram illustrating the definition of the left and right rotation angles ψ. Detailed Implementation
[0017] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that the following embodiments are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.
[0018] This invention provides a method for adjusting the lifting wire rope based on the LPS angle of a quay crane, applicable to the automatic adjustment of the spreader posture during container loading and unloading operations at port quay cranes. The lifting system of a quay crane typically includes a lifting drum 1, a rear beam pulley 2, a trolley pulley 3, a spreader frame 4, a front beam pressure plate 5, and four lifting wire ropes 6. Each wire rope corresponds to a hydraulic tilting cylinder 7, which is connected to the pulley block via a lever mechanism, together forming the wire rope transmission chain. The LPS (Laser Position Detection System) consists of a light source mounted on the trolley platform and marker points mounted on the spreader frame, used to detect the attitude angle of the spreader and the working angle of the wire rope in real time.
[0019] To achieve precise adjustments, the core parameters and variables involved in this invention are first uniformly defined as the basis for subsequent calculations and execution: 1. Lifting Gear Structural Parameters: The length of the lifting gear along the forward and backward direction of the trolley traveling on the riverbank is denoted as... The width along the horizontal direction perpendicular to the front-back direction is denoted as W, and the diagonal length of the lifting device is denoted as... The lifting device is equipped with a fixed pulley block, which is a key component of the wire rope transmission.
[0020] 2. Core angles acquired by LPS: Spreader attitude angles: Real-time acquisition of the spreader's forward / backward tilt angle θ and left / right tilt angle. 1. Left and right rotation angles ψ. The rule for positive and negative angles is: forward tilt, left tilt, and left rotation are positive; backward tilt, right tilt, and right rotation are negative. Wire rope working angles: Three measured working angles of each hoisting wire rope are collected simultaneously—measured skew angle α. 实测(n#) Measured tension angle γ 实测(n#) Measured torsion angle β 实测(n#) (n# = 1#, 2#, 3#, 4#) to fully reflect the actual operating status of the wire rope.
[0021] 3. Wire Rope Numbering and Arrangement: There are a total of 4 hoisting wire ropes, arranged symmetrically along the center of the lifting device. The numbering from above the lifting device is: 1# (rear left), 2# (front left), 3# (front right), and 4# (rear right). The left rope groups are 1# and 2#, the right rope groups are 3# and 4#, the front rope groups are 2# and 3#, the rear rope groups are 1# and 4#, and the diagonal rope groups are 1# and 3#, and 2# and 4#. Each wire rope passes through a fixed pulley on the lifting device and forms a complete transmission chain with the pulley group of the front hydraulic actuator. The four rope numbers also correspond to the numbers of the four tilting cylinders.
[0022] 4. Actuator and Overall Transmission Ratio Parameters: The actuator is a composite transmission mechanism consisting of a lever and a pulley system. Let the lever arm from the point of action of the hydraulic cylinder to the center of rotation be... The lever arm from the point of application of the pulley system to the center of rotation is Rear beam pulley transmission ratio The transmission ratio of the upper pulley of the lifting device According to the lever principle, the extension and retraction of the hydraulic cylinder... Displacement of pulley end The relationship is Define the transmission ratio of the lever mechanism The displacement at the pulley end is amplified by the rear beam pulley block. After multiplying, it is converted into the actual elongation of the wire rope. ,Right now Therefore, the overall transmission ratio from the hydraulic cylinder to the wire rope is... That is, the adjustment amount of the wire rope is equal to the movement amount of the hydraulic cylinder. The hydraulic cylinder's movement is times the adjustment amount of the wire rope; conversely, the hydraulic cylinder's movement is equal to the adjustment amount of the wire rope. .
[0023] 5. Variable Definition and Positive / Negative Rules: All adjustment and motion quantities are positive for extension / reaching out and negative for shortening / retraction. The attitude adjustment quantity for a single rope is denoted as... , , The initial adjustment amount for the composite attitude superposition is denoted as The actual amount of motion of each rope corresponding to the hydraulic cylinder is recorded as follows: The actual attitude angle of the spreader during the LPS test is denoted as θ. 测 , 测 ψ 测 .
[0024] The method of the present invention will be described in detail below with reference to specific embodiments.
[0025] Step 1: LPS Angle Acquisition and System Parameter Initialization During the operation of the quay crane, two types of angle data are collected in real time and with high precision through the LPS angle acquisition module mounted on the spreader: (1) Composite attitude angle of the spreader: forward and backward tilt angle θ, left and right tilt angle 1. Left and right rotation angles ψ; (2) Three working conditions angles of the wire rope: the measured skew angles of the four hoisting wire ropes. Measured tension angle Measured torsion angle ( ).
[0026] All angle data is transmitted in real time to the quay crane main controller via the industrial communication module, serving as input for subsequent adjustment calculations.
[0027] Step 2: Perform attitude calculations, superposition, and precise three-angle calibration to obtain the final calibration adjustment amount for each wire rope. Based on the combined attitude deviation of the lifting gear collected by the LPS, the main controller first calculates the theoretical adjustment amount for each wire rope independently for each attitude, then performs algebraic superposition to obtain the initial adjustment amount under the combined attitude, and finally performs independent and precise calibration of each wire rope by combining the three measured working angles of the wire rope, thereby obtaining the final calibration adjustment amount for each wire rope. The specific process is as follows: 2.1 Calculate the adjustment amount for each wire rope independently based on its posture. Based on the correction requirements for different attitude deviations of the lifting device, the corresponding wire rope group adopts the reverse adjustment principle, and calculates the independent adjustment amount of the four wire ropes under a single attitude: For the forward and backward tilt angle of the spreader For calibration, the front rope group (2#, 3#) and the rear rope group (1#, 4#) need to be adjusted in opposite directions. The calculation formula is as follows: ; For the left and right tilt angle of the spreader For the correction, the left rope group (1#, 2#) and the right rope group (3#, 4#) need to be adjusted in opposite directions. The calculation formula is: ; For the left and right rotation angle of the spreader For the correction, diagonal rope group 1 (1#, 3#) and diagonal rope group 2 (2#, 4#) need to be adjusted in opposite directions. The calculation formula is: ; 2.2 Algebraic superposition of three-position adjustment amounts of a single wire rope The initial adjustment amount under the combined attitude deviation of the lifting device is obtained by algebraically superimposing the three independent single-attitude adjustment amounts of each wire rope. Each wire rope is calculated separately without interference. ΔL 叠加(n#) Where n# = 1#, 2#, 3#, 4#; 2.3 Perform precise calibration based on operating conditions. The above-mentioned superimposed adjustment amount This is a theoretical value calculated based on the geometric dimensions and angular deviations of the lifting device. Since the upper pulley of the lifting device is a fixed pulley, its transmission ratio... Therefore, the actual length of the wire rope that needs to be adjusted is... This is the theoretical superposition quantity, i.e., ΔL. 钢丝绳(n#) = ΔL 叠加(n#) × i3 Meanwhile, in order to eliminate the influence of the wire rope's own skewness, tension, torsion, and other working conditions on the adjustment accuracy, the main controller also needs to adjust the actual working condition angle α of each wire rope collected in step 1. 实测(n#) γ 实测(n#) β 实测(n#) right Fine-tuning and calibration are performed. In this embodiment, the calibration algorithm uses a built-in empirical formula or a lookup table to obtain the final calibration adjustment amount for each wire rope, which is still denoted as... To simplify the description, subsequent calculations will directly use... As the final calibration adjustment.
[0028] Step 3: Establish the quantitative relationship between the hydraulic cylinder and the wire rope, including the fixed pulley on the lifting frame, and reverse the actual movement of the hydraulic cylinder to drive the adjustment. There is a definite quantitative conversion relationship between the actual movement of the hydraulic cylinder and the final calibration adjustment of the wire rope. As can be seen from the basic definition, the extension / retraction of the hydraulic cylinder is amplified by the lever mechanism. The signal is then amplified and transmitted to the pulley end, and then further amplified by the rear beam pulley block. The effect of multiplication on the wire rope is as follows:
[0029] in , .
[0030] Therefore, the actual amount of motion of the hydraulic cylinder can be deduced:
[0031] The main controller calculates based on , , , Control commands are sent to the four hydraulic cylinders to drive them to complete the corresponding extension and retraction movements. The mechanical motion of the cylinders is transmitted through a lever mechanism to the pulley block, and then through the rear beam pulley block and the fixed pulley block on the upper frame of the spreader, ultimately being precisely converted into the extension and retraction of the corresponding wire ropes. This achieves differentiated and precise adjustment of the four wire ropes, completing the execution stage of spreader attitude correction.
[0032] Step 4: Use LPS to test the actual attitude of the spreader, determine and execute closed-loop correction. After the wire rope adjustment is completed, the actual attitude angle θ of the lifting device is collected again in real time and with high precision using the LPS angle acquisition module. 测 , 测 ψ 测 The data is then transmitted to the quay crane's main controller. The main controller compares the measured attitude angle with the preset allowable deviation range [θ]. 允 , 允 , ψ 允 Compare each item individually and perform a two-level judgment: Pass / Fail Judgment: If , , If the adjustment amount of the wire rope is found to be highly compatible with the requirements for correcting the posture of the lifting device, the adjustment is considered complete. Simultaneously, the main controller automatically records all data from this adjustment (including initial posture, adjustment amounts of each wire rope, cylinder actuation, final posture, etc.) and stores it in the equipment's full lifecycle maintenance file, providing a basis for subsequent maintenance and optimization.
[0033] Correction Judgment: If any measured attitude angle exceeds the preset allowable deviation range, it is determined that the wire rope adjustment amount does not fully match the spreader attitude correction requirements, and the closed-loop correction mechanism is immediately triggered. At this time, the main controller will update the spreader attitude deviation measured by the LPS. , , Δψ = ψ 测 As the new angle input parameter, repeat steps 2 to 4 above. During the repetition, the angles of the three working conditions of the wire rope need to be re-acquired (because the working conditions of the wire rope may change after adjustment), and the adjustment amount of each wire rope and the actual movement amount of the corresponding hydraulic cylinder are recalculated to drive the hydraulic cylinder for secondary fine adjustment. Repeat this process until all the actual attitude angles of the spreader tested by LPS fall within the preset allowable deviation range, completing the closed-loop correction.
[0034] Through the above-mentioned closed-loop control logic of "calculation-execution-testing-correction", this invention can achieve differentiated and precise adjustment of the hoisting wire rope and precise correction of the composite posture of the lifting device, effectively ensuring that the wire rope angle meets the specifications and the force is balanced, and significantly improving the safety and stability of the quay crane operation.
[0035] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.
Claims
1. A method for adjusting the hoisting wire rope based on the LPS angle of a quay crane, characterized in that, Includes the following steps: Step 1: The LPS angle acquisition module mounted on the quay crane spreader is used to collect the composite attitude angle of the spreader in real time and transmit the collected angle data to the quay crane main controller. Step 2: The main controller first calculates the adjustment amount of each wire rope independently according to the composite attitude angle of the spreader, then algebraically superimposes the results to obtain the initial adjustment amount of the composite attitude, and finally combines the measured working condition angle to complete the independent and accurate calibration of each wire rope to obtain the final calibration adjustment amount of each wire rope. Step 3: Based on the overall transmission ratio of the wire rope including the fixed pulley on the lifting device, establish a quantitative conversion relationship between the hydraulic cylinder and the wire rope. The actual movement of the corresponding hydraulic cylinder is deduced from the final calibration adjustment amount of each wire rope. The hydraulic cylinder is controlled to complete the extension and retraction action to test the effect and realize the adjustment of the wire rope. Step 4: After the wire rope is adjusted, the actual attitude angle of the spreader is collected again through the LPS angle acquisition module. The measured attitude angle is compared with the preset allowable deviation range. If all measured attitude angles are within the allowable deviation range, the adjustment is complete; otherwise, the measured attitude angle is used as the new input, and steps 2 to 4 are repeated until the attitude of the spreader meets the requirements, forming a closed-loop correction.
2. The method for adjusting the hoisting wire rope based on the LPS angle of the quay crane according to claim 1, characterized in that, In step 1, the combined attitude angles of the lifting device include the forward and backward tilt angle θ and the left and right tilt angle. Left and right rotation angles ψ; measured deflection angle α of the lifting device. 实测(n#) Measured tension angle γ 实测(n#) Measured torsion angle β 实测(n#) , where n# = 1#, 2#, 3#, 4#.
3. The method for adjusting the hoisting wire rope based on the LPS angle of the quay crane according to claim 2, characterized in that, In step 2, the specific method for independently calculating the adjustment amount of each wire rope based on its attitude is as follows: For the forward and backward tilt θ of the spreader, the front rope groups 2# and 3# are adjusted in opposite directions to the rear rope groups 1# and 4#. The calculation formula is as follows: ； For the left and right tilt of the spreader The left rope groups #1 and #2 are adjusted in the opposite direction to the right rope groups #3 and #4. The calculation formula is: ； For the left and right rotation ψ of the lifting sling, the diagonal rope groups 1# and 3# are adjusted in the opposite direction to the diagonal rope groups 2# and 4#. The calculation formula is as follows: ； in, W is the length of the spreader in the front-to-back direction, W is the width of the spreader in the left-to-right direction, and D is the diagonal length of the spreader. .
4. The method for adjusting the hoisting wire rope based on the LPS angle of the quay crane according to claim 3, characterized in that, In step 2, the formula for calculating the algebraic superposition of the three-position adjustment amounts of a single wire rope is: ΔL 叠加(n#) Where n# = 1#, 2#, 3#, 4#; The amount of wire rope that needs adjustment can be calculated by inputting the transmission ratio i3. i3 is the transmission ratio of the upper pulley of the lifting device, and i2 is the transmission ratio of the rear beam pulley. ΔL 钢丝绳(n#) = ΔL 叠加(n#) × i3。 5. The method for adjusting the hoisting wire rope based on the LPS angle of the quay crane according to claim 4, characterized in that, In step 3, the overall transmission ratio of the steel wire rope, which is the basis for establishing the quantitative conversion relationship between the oil cylinder and the steel wire rope, is composed of the transmission ratio i1 of the lever mechanism and the transmission ratio i2 of the rear beam pulley. Where i1 is the transmission ratio of the lever mechanism, which is determined by the ratio of the lever arm L1 from the point of action of the cylinder to the center of rotation to the lever arm L2 from the point of action of the pulley block to the center of rotation, i.e., i1 = L2 / L1. i2 is the transmission ratio of the rear beam pulley; The overall transmission ratio of the wire rope is denoted as k_total, where k_total = i1·i2; The core formula for calculating the actual motion of the hydraulic cylinder is: ΔL 油缸(n#) = ΔL 叠加(n#) / k 总 = ΔL 叠加(n#) / (i1·i2)。 6. The method for adjusting the hoisting wire rope based on the LPS angle of the quay crane according to claim 1, characterized in that, In step 4, the specific method of closed-loop correction is as follows: if the measured attitude angle θ 测 , 测 ψ 测 Any angle exceeding the preset allowable deviation range [θ] 允 , 允 , ψ 允 If the deviation value is Δθ = θ, then the deviation value is determined. 测 Δ = 测 , Δψ = ψ 测 As a new angle input parameter, repeat steps 2 to 4 above, re-acquire the angles of the three working conditions of the spreader and calculate the adjustment amount of each wire rope. Based on the adjustment amount of each rope, infer the actual movement of the corresponding hydraulic cylinder, drive the hydraulic cylinder to perform extension and retraction adjustment, and check that the actual attitude angle of the spreader tested by LPS all fall within the preset allowable deviation range, thus completing the closed-loop correction.
7. The method for adjusting the hoisting wire rope based on the LPS angle of the quay crane according to claim 1, characterized in that, There are a total of 4 hoisting wire ropes, arranged symmetrically along the center of the lifting device. The numbering of the lifting device when viewed from above is: 1# rear left, 2# front left, 3# front right, and 4# rear right. Among them, the left rope group is 1# and 2#, the right rope group is 3# and 4#, the front rope group is 2# and 3#, the rear rope group is 1# and 4#, and the diagonal rope groups are 1# and 3#, and 2# and 4#. Each wire rope corresponds to a tilting cylinder, and the numbering is consistent with the wire rope number.
8. The method for adjusting the hoisting wire rope based on the LPS angle of the quay crane according to claim 1, characterized in that, In step 1, the LPS angle acquisition module includes a light source installed on the trolley platform and a marker point installed on the upper frame of the spreader. The spreader attitude angle and wire rope working condition angle are obtained by illuminating the marker point with the light source.
9. The method for adjusting the hoisting wire rope based on the LPS angle of the quay crane according to claim 1, characterized in that, In step 4, after the adjustment is completed, the main controller automatically records all the data of this adjustment and establishes a maintenance file for the entire life cycle of the equipment.
10. The method for adjusting the hoisting wire rope based on the LPS angle of a quay crane according to any one of claims 1 to 9, characterized in that, In the method described above, all adjustment and movement amounts are positive for extension / protrusion and negative for shortening / retraction.