Crown block control system
By combining the hoisting control module, current adjustment module, and full magnetization detection module, the problem of inaccurate current control of the electromagnetic chuck is solved, ensuring that the electromagnetic chuck provides appropriate suction force at different stages, preventing goods from falling off, and improving the safety and stability of overhead crane operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 曹妃甸港集团股份有限公司
- Filing Date
- 2025-04-30
- Publication Date
- 2026-04-24
AI Technical Summary
Traditional overhead crane control systems cannot precisely regulate the current when the electromagnetic chuck picks up materials, resulting in insufficient or excessive suction force, which affects the lifespan of the equipment and the integrity of the materials. The electromagnetic chuck's suction force is unstable during hoisting, posing a safety hazard.
The design incorporates a combination of a hoisting control module, a current regulation module, a full magnetization detection module, and a movement control module. By precisely regulating the current and monitoring the full magnetization status in real time, it ensures that the electromagnetic chuck provides appropriate suction force at different stages and connects the AC motor to drive the crane to move when the magnetization is full.
This technology enables the electromagnetic chuck to stably adhere to materials during hoisting, preventing goods from falling off and improving the safety and stability of overhead crane operations.
Smart Images
Figure CN224160264U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of overhead crane control technology, and in particular to an overhead crane control system. Background Technology
[0002] In current overhead crane operations, traditional overhead crane control systems have many shortcomings. For example, when the electromagnetic chuck is picking up materials, the current cannot be precisely controlled. Either the suction force is insufficient, causing the material to be lifted unstablely, or the suction force is too large at any moment, impacting the material and equipment, affecting the service life of the equipment and the integrity of the material. During the lifting process, it is also difficult to ensure that the electromagnetic chuck maintains sufficient suction force at all times, which can easily cause the goods to fall off, posing a great safety hazard. Utility Model Content
[0003] This disclosure provides a crane control system to improve the safety of crane operations.
[0004] This disclosure provides an overhead crane control system, including: a hoisting control module, a current regulation module, a full magnetization detection module, and a movement control module;
[0005] The first end of the hoisting control module is used to connect to the first power supply, which is a DC power supply. The second end of the hoisting control module is connected to the first end of the current regulating module, and the second end of the current regulating module is connected to the electromagnetic chuck.
[0006] The first end of the full magnetization detection module is connected to the second end of the current regulation module, the second end of the full magnetization detection module is connected to the control end of the motion control module, the first end of the motion control module is used to connect to a second power source, which is an AC power source, and the second end of the motion control module is connected to an AC motor.
[0007] In one exemplary embodiment of this disclosure, the hoisting control module includes a switch S1;
[0008] The first terminal of the switch S1 is connected to the VDD power supply, and the second terminal of the switch S1 is connected to the first terminal of the current regulation module.
[0009] In one exemplary embodiment of this disclosure, the current regulation module includes: a variable resistor RP1, a resistor R3, an operational amplifier U1, a resistor R1, and a transistor Q1;
[0010] The first terminal of the variable resistor RP1 is connected to the VCC power supply, the second terminal of the variable resistor RP1 is grounded through the resistor R3, the second terminal of the variable resistor RP1 is connected to the non-inverting input terminal of the operational amplifier U1, the output terminal of the operational amplifier U1 is connected to the inverting input terminal of the operational amplifier U1 through the resistor R1, the inverting input terminal of the operational amplifier U1 is connected to the Vref reference voltage, the output terminal of the operational amplifier U1 is connected to the base of the transistor Q1, the collector of the transistor Q1 is connected to the second terminal of the switch S1, and the emitter of the transistor Q1 is connected to the electromagnetic chuck.
[0011] In one exemplary embodiment of this disclosure, the current regulation module further includes: a resistor R2 and a Zener diode D1;
[0012] The first end of the resistor R2 is connected to the Vref reference voltage, the second end of the resistor R2 is connected to the cathode of the Zener diode D1, the anode of the Zener diode D1 is grounded, and the second end of the resistor R2 is connected to the inverting input terminal of the operational amplifier U1.
[0013] In one exemplary embodiment of this disclosure, the hoisting control module further includes: switch S2 and relay KM2;
[0014] The first terminal of the switch S2 is connected to the VDD power supply, the second terminal of the switch S2 is connected to the first power supply terminal of the relay KM2, the second power supply terminal of the relay KM2 is grounded, the first terminal of the relay KM2 is connected to the second terminal of the switch S1, and the second terminal of the relay KM2 is connected to the collector of the transistor Q1.
[0015] In one exemplary embodiment of this disclosure, the full magnetization detection module includes: a rheostat RP2 and a Zener diode D2;
[0016] The first end of the variable resistor RP2 is connected to the electromagnetic chuck, the second end of the variable resistor RP2 is grounded, the sliding end of the variable resistor RP2 is connected to the cathode of the Zener diode D2, and the anode of the Zener diode D2 is connected to the control terminal of the motion control module.
[0017] In one exemplary embodiment of this disclosure, the motion control module includes: a transistor Q2 and a relay KM1;
[0018] The base of transistor Q2 is connected to the anode of Zener diode D2, the collector of transistor Q2 is connected to the first power supply terminal of relay KM1, the emitter of transistor Q2 is grounded, the second power supply terminal of relay KM1 is connected to VDD power supply, the first operating terminal of relay KM1 is used to connect to the second power supply, and the second operating terminal of relay KM1 is connected to the power supply terminal of AC motor.
[0019] The beneficial effects of the overhead crane control system provided in this embodiment are as follows: The hoisting control module provides electrical energy to enable the electromagnetic chuck to operate, and the current regulation module precisely regulates the current during the material suction and lifting stages, which can avoid lifting impact and prevent the material from falling off during transport. The full magnetization detection module monitors the current in real time and converts it into voltage to determine the full magnetization state. Only when full magnetization is confirmed will the movement control module connect the AC motor and power supply to make the overhead crane move. This design ensures that the overhead crane can stably attract materials with appropriate suction force during material lifting, effectively avoiding the risk of goods falling off and improving the safety and stability of overhead crane operations. Attached Figure Description
[0020] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0021] Figure 1 This is a schematic diagram of the structure of the overhead crane control system provided in an embodiment of this disclosure;
[0022] Figure 2 This is a circuit diagram of the overhead crane control system provided in an embodiment of this disclosure. Detailed Implementation
[0023] To enable those skilled in the art to better understand this solution, the technical solutions in the embodiments of this solution will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this solution, not all of them. Based on the embodiments of this solution, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this solution.
[0024] The term "comprising" and any other variations thereof in the specification, claims, and accompanying drawings of this invention mean "including but not limited to," and are intended to cover a non-exclusive inclusion, not limited to the examples listed herein. Furthermore, the terms "first" and "second," etc., are used to distinguish different objects, not to describe a specific order.
[0025] The implementation of this disclosure will be described in detail below with reference to the specific accompanying drawings:
[0026] Figure 1 This is a schematic diagram of a crane control system provided in an embodiment of this disclosure. (Refer to...) Figure 1The overhead crane control system includes: a hoisting control module, a current regulation module, a full magnetization detection module, and a movement control module; the first end of the hoisting control module is connected to a first power source, which is a DC power source; the second end of the hoisting control module is connected to the first end of the current regulation module, and the second end of the current regulation module is connected to an electromagnetic chuck; the first end of the full magnetization detection module is connected to the second end of the current regulation module, and the second end of the full magnetization detection module is connected to the control end of the movement control module; the first end of the movement control module is connected to a second power source, which is an AC power source; and the second end of the movement control module is connected to an AC motor.
[0027] In this embodiment, the overhead crane control system is applied to the overhead crane electromagnetic crane (i.e., electromagnetic crane). The hoisting control module obtains DC power from the first power source and transmits it to the current regulation module to make the electromagnetic chuck generate magnetism, ensuring that the electromagnetic chuck can start working.
[0028] When the electromagnetic chuck picks up materials, the current adjustment module can precisely regulate the current output to the chuck. The suction force of the chuck is controlled at 70%-80% of its full magnetization (the specific suction force can be set according to the goods being lifted). Within this range, it ensures that the material is stably held during the initial lifting process while preventing impact on the material and equipment caused by excessive instantaneous suction force. Once the material is successfully lifted, to ensure it does not fall during transport, the current adjustment module can increase the current to bring the electromagnetic chuck to its full magnetization state, providing maximum suction force.
[0029] The full magnetization detection module monitors the current output from the current regulation module to the electromagnetic chuck in real time and converts the detected current into a corresponding voltage signal.
[0030] A voltage threshold range corresponding to the fully magnetized state can be preset. The voltage value output by the full magnetization detection module can be compared with the preset threshold to determine whether the electromagnetic chuck has reached the fully magnetized state. Once the detected voltage value falls within the threshold range corresponding to full magnetization, it indicates that the electromagnetic chuck has reached the fully magnetized state.
[0031] Once the full magnetization detection module confirms that the electromagnetic chuck has reached full magnetization, it sends a control command to the movement control module. Upon receiving this command, the movement control module connects the AC motor to the second power source. At this point, the AC motor receives AC power from the second power source and begins operation. The AC motor is used to control the movement of the overhead crane's electromagnetic chuck, transporting the adsorbed material and placing it at the designated location.
[0032] As can be seen from the above, the hoisting control module in this embodiment provides electrical power to operate the electromagnetic chuck, and the current regulation module precisely controls the current during the material picking and lifting stages, which can avoid lifting impact and prevent the chuck from falling off. The full magnetization detection module monitors the current in real time and converts it into voltage to determine the full magnetization state. Only when full magnetization is confirmed will the movement control module connect the AC motor and power supply to move the overhead crane. This design ensures that the overhead crane can stably attract materials with appropriate suction force during material lifting, effectively avoiding the risk of goods falling off and improving the safety and stability of the overhead crane operation.
[0033] like Figure 2 As shown, in one embodiment of this disclosure, the hoisting control module includes a switch S1; the first end of the switch S1 is connected to a VDD power supply, and the second end of the switch S1 is connected to the first end of a current regulating module.
[0034] In this embodiment, switch S1 can be a push-button switch. The VDD power supply is a DC power source that provides power to the hoisting control module. When switch S1 is closed, it connects the circuit between the VDD power supply and the current regulation module, allowing DC power from the VDD power supply to be transmitted to the current regulation module. This provides a current path for the subsequent electromagnetic chuck, serving as the starting point for the entire overhead crane control system. When switch S1 is closed, DC power flows into the current regulation module, initiating subsequent current regulation, the generation of magnetism in the electromagnetic chuck, and the overall operation of the overhead crane system. When switch S1 is open, the path from the power source to the current regulation module is cut off, preventing current transmission and placing the system in a stop or standby state. By controlling switch S1, the start and stop operations of the entire overhead crane control system can be effectively controlled, thereby achieving operational control of the overhead crane electromagnetic hoist.
[0035] like Figure 2 As shown, in one embodiment of this disclosure, the current regulation module includes: a variable resistor RP1, a resistor R3, an operational amplifier U1, a resistor R1, and a transistor Q1; the first terminal of the variable resistor RP1 is connected to the VCC power supply, the second terminal of the variable resistor RP1 is grounded through the resistor R3, the second terminal of the variable resistor RP1 is connected to the non-inverting input terminal of the operational amplifier U1, the output terminal of the operational amplifier U1 is connected to the inverting input terminal of the operational amplifier U1 through the resistor R1, the inverting input terminal of the operational amplifier U1 is connected to the Vref reference voltage, the output terminal of the operational amplifier U1 is connected to the base of the transistor Q1, the collector of the transistor Q1 is connected to the second terminal of the switch S1, and the emitter of the transistor Q1 is connected to the electromagnetic chuck.
[0036] In this embodiment, the variable resistor RP1 can be a current adjustment knob. The variable resistor RP1, resistor R3, operational amplifier U1 and resistor R1 constitute an amplifier circuit. The operational amplifier U1 can output a voltage signal, which is applied to the base of transistor Q1. Transistor Q1 operates in the amplification state. The larger the base voltage of transistor Q1, the larger the current flowing through the emitter of transistor Q1, thereby increasing the current flowing through the electromagnetic chuck and making the electromagnetic chuck stronger.
[0037] In this embodiment, by adjusting the resistance of the variable resistor RP1, the voltage at the non-inverting input of operational amplifier U1 can be changed, thereby affecting the output voltage of operational amplifier U1. Since the output voltage of operational amplifier U1 is applied to the base of transistor Q1, changing this voltage will affect the base current of transistor Q1, and thus change its emitter current. Because the emitter of transistor Q1 is connected to the electromagnetic chuck, changing the emitter current of transistor Q1 also changes the current flowing through the electromagnetic chuck, ultimately adjusting the suction force of the electromagnetic chuck. When the resistance of RP1 is increased, the voltage at the non-inverting input of operational amplifier U1 increases, the output voltage of operational amplifier U1 increases, the base voltage of transistor Q1 increases, the base current increases, the emitter current increases, the current of the electromagnetic chuck increases, and the suction force increases; conversely, when the resistance of RP1 is decreased, the current of the electromagnetic chuck decreases, and the suction force weakens.
[0038] As can be seen from the above, this embodiment achieves continuous and adjustable suction force of the electromagnetic chuck through the current adjustment module, which meets the different suction force requirements of the crane at different stages (such as material picking and hoisting). At the same time, the amplification characteristics of the transistor and the amplification circuit of the operational amplifier are used to ensure the accuracy and stability of the current adjustment of the electromagnetic chuck.
[0039] like Figure 2 As shown, in one embodiment of this disclosure, the current regulation module further includes: a resistor R2 and a Zener diode D1; the first end of the resistor R2 is connected to the Vref reference voltage, the second end of the resistor R2 is connected to the cathode of the Zener diode D1, the anode of the Zener diode D1 is grounded, and the second end of the resistor R2 is connected to the inverting input terminal of the operational amplifier U1.
[0040] In this embodiment, resistor R2 and Zener diode D1 constitute a voltage regulator circuit. When the system is operating normally, the Vref reference voltage is applied to Zener diode D1 and the inverting input terminal of operational amplifier U1 through resistor R2. Resistor R2 limits the current of the Vref reference voltage, ensuring that the current flowing into Zener diode D1 is within a suitable range. Zener diode D1 is in reverse breakdown state, stabilizing the voltage across its terminals at a fixed value. This stable voltage value serves as the reference voltage for the inverting input terminal of operational amplifier U1. The voltage regulator circuit provides a stable reference voltage for the entire current regulation module, ensuring the reliability of operational amplifier U1.
[0041] This avoids instability in the output voltage of op-amp U1 due to fluctuations in the reference voltage, ensuring that the current regulation module can stably regulate the current of the electromagnetic chuck under different operating conditions, thereby ensuring the reliability and accuracy of the crane control system.
[0042] like Figure 2 As shown, in one embodiment of this disclosure, the hoisting control module further includes: a switch S2 and a relay KM2; the first end of the switch S2 is connected to the VDD power supply, the second end of the switch S2 is connected to the first power supply terminal of the relay KM2, the second power supply terminal of the relay KM2 is grounded, the first end of the relay KM2 is connected to the second end of the switch S1, and the second end of the relay KM2 is connected to the collector of the transistor Q1.
[0043] In this embodiment, the normally closed contact of relay KM2 is connected between switch S1 and the collector of transistor Q1. Switch S1 can be considered as a material suction switch, and switch S2 can be considered as a material discharge switch. When the trolley moves to the designated location, switch S2 is pressed, relay KM2 is energized, and its normally closed contact opens. When the normally closed contact of relay KM2 opens, the current path from switch S1 to the collector of transistor Q1 is cut off. Since the collector of transistor Q1 can no longer receive current, transistor Q1 is no longer conducting, and the electromagnetic chuck can no longer receive current. When no current flows through it, the electromagnetic chuck loses its magnetism, and the material that was originally attracted will fall off the electromagnetic chuck due to the loss of electromagnetic attraction, thus realizing the material discharge operation.
[0044] As can be seen from the above, the combination of switch S2 and relay KM2 plays an important role in material release control in the overhead crane control system. By pressing switch S2, relay KM2 is energized, which in turn actuates the normally closed contact of relay KM2, cutting off the current path of the electromagnetic chuck and ultimately realizing the material release operation. This makes the operation process of the overhead crane control system more complete and flexible, as it can control material suction through switch S1 and material release through switch S2, improving the convenience and practicality of operating the overhead crane electromagnetic hoist.
[0045] like Figure 2 As shown, in one embodiment of this disclosure, the full magnetization detection module includes: a rheostat RP2 and a Zener diode D2; the first end of the rheostat RP2 is connected to an electromagnetic chuck, the second end of the rheostat RP2 is grounded, the sliding end of the rheostat RP2 is connected to the cathode of the Zener diode D2, and the anode of the Zener diode D2 is connected to the control terminal of the motion control module.
[0046] In this embodiment, the variable resistor RP2 is used to detect the current of the electromagnetic chuck. Since the current flowing through the electromagnetic chuck varies under different suction forces, different voltages are generated across its terminals. When the current of the electromagnetic chuck changes, the voltage across the variable resistor RP2 changes accordingly, which in turn causes a change in the voltage at the sliding contact of the variable resistor RP2. The voltage division ratio can be adjusted by changing the position of the sliding contact of the variable resistor RP2 to adapt to different full magnetization detection requirements.
[0047] When the electromagnetic chuck is not fully magnetized, the current flowing through it is small, resulting in a relatively small voltage output from the sliding terminal of the rheostat RP2. This voltage is less than the breakdown voltage of the Zener diode D2, which is in the off state. Because D2 is off, no current flows through its anode, and the control terminal of the movement control module cannot receive a valid signal. Therefore, the movement control module remains inactive, and the overhead crane will not move. This ensures that the overhead crane will not start moving when the electromagnetic chuck's suction force is insufficient, preventing goods from falling off during transport due to insufficient suction.
[0048] When the electromagnetic chuck reaches full magnetization, the current flowing through it increases, causing the voltage output from the sliding terminal of the rheostat RP2 to rise. When this voltage exceeds the breakdown voltage of the Zener diode D2, D2 enters a breakdown and conduction state. After D2 conducts, current flows from its cathode to its anode, sending a signal to the control terminal of the movement control module. Upon receiving this signal, the movement control module begins operation, driving the overhead crane to move. This ensures that the crane only begins moving when the electromagnetic chuck reaches full magnetization, guaranteeing that materials are firmly attracted during movement and ensuring the safety and reliability of the lifting operation.
[0049] As can be seen from the above, by combining the rheostat RP2 and the Zener diode D2, the full magnetization detection module realizes the detection of the full magnetization state of the electromagnetic chuck, and controls the action of the movement control module according to the detection result, thereby coordinating the suction state of the electromagnetic chuck and the movement operation of the crane.
[0050] like Figure 2 As shown, in one embodiment of this disclosure, the motion control module includes: a transistor Q2 and a relay KM1; the base of transistor Q2 is connected to the anode of Zener diode D2, the collector of transistor Q2 is connected to the first power supply terminal of relay KM1, the emitter of transistor Q2 is grounded, the second power supply terminal of relay KM1 is connected to VDD power supply, the first operating terminal of relay KM1 is used to connect to a second power supply, and the second operating terminal of relay KM1 is connected to the power supply terminal of AC motor.
[0051] In this embodiment, the operating state of transistor Q2 depends on the base voltage. When Zener diode D2 is off (the electromagnetic chuck is not fully magnetized), the base voltage of transistor Q2 is low, and transistor Q2 is in the off state, at which time no current flows from the collector to the emitter. When Zener diode D2 is on (the electromagnetic chuck is fully magnetized), the base voltage increases, and transistor Q2 enters the on state.
[0052] The operating state of relay KM1 is controlled by transistor Q2. When transistor Q2 is off, there is no current path between the first power supply terminal and the emitter of relay KM1, and the electromagnetic coil of relay KM1 cannot be energized; when transistor Q2 is on, the VDD power supply, transistor Q2, and the first and second power supply terminals of relay KM1 form a complete power supply circuit, energizing the electromagnetic coil of relay KM1.
[0053] When the electromagnetic chuck is not fully magnetized, the Zener diode D2 is cut off, resulting in a low base voltage for transistor Q2, which is also cut off. Because transistor Q2 is cut off, the electromagnetic coil of relay KM1 is not energized, and the contacts of relay KM1 do not operate. At this time, the connection between the first and second operating terminals of relay KM1 is in its initial state. The AC motor is not connected to the second power supply and does not operate. The overhead crane will not move, ensuring that the overhead crane does not start moving before the electromagnetic chuck is fully magnetized, preventing materials from being transported under insufficient suction and avoiding the risk of material falling off.
[0054] When the electromagnetic chuck reaches full magnetization, the Zener diode D2 conducts, increasing the base voltage of transistor Q2 and turning it on. After Q2 conducts, the VDD power supply powers the electromagnetic coil of relay KM1, generating a magnetic field that actuates its contacts. This actuation connects the first actuating terminal (connected to the second power supply) and the second actuating terminal (connected to the AC motor's power supply), powering the AC motor. The AC motor then starts running, driving the overhead crane's electromagnetic chuck to move and transport materials to the designated location.
[0055] As can be seen from the above, the movement control module, through the cooperation of transistor Q2 and relay KM1, controls the action of relay KM1 based on the state of Zener diode D2 in the full magnetization detection module, thereby controlling the power supply and operation of AC motor. This achieves the function of starting the crane movement only when the electromagnetic chuck reaches the full magnetization state, ensuring the safety and stability of material adsorption during crane operation.
[0056] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure 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. Such 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 this disclosure.
Claims
1. A crane control system, characterized in that, include: Lifting control module, current regulation module, full magnetization detection module, and movement control module; The first end of the hoisting control module is used to connect to the first power supply, which is a DC power supply. The second end of the hoisting control module is connected to the first end of the current regulating module, and the second end of the current regulating module is connected to the electromagnetic chuck. The first end of the full magnetization detection module is connected to the second end of the current regulation module, the second end of the full magnetization detection module is connected to the control end of the motion control module, the first end of the motion control module is used to connect to a second power source, which is an AC power source, and the second end of the motion control module is connected to an AC motor.
2. The crane control system as described in claim 1, characterized in that, The hoisting control module includes a switch S1; The first terminal of the switch S1 is connected to the VDD power supply, and the second terminal of the switch S1 is connected to the first terminal of the current regulation module.
3. The overhead crane control system as described in claim 2, characterized in that, The current regulation module includes: a variable resistor RP1, a resistor R3, an operational amplifier U1, a resistor R1, and a transistor Q1; The first terminal of the variable resistor RP1 is connected to the VCC power supply, the second terminal of the variable resistor RP1 is grounded through the resistor R3, the second terminal of the variable resistor RP1 is connected to the non-inverting input terminal of the operational amplifier U1, the output terminal of the operational amplifier U1 is connected to the inverting input terminal of the operational amplifier U1 through the resistor R1, the inverting input terminal of the operational amplifier U1 is connected to the Vref reference voltage, the output terminal of the operational amplifier U1 is connected to the base of the transistor Q1, the collector of the transistor Q1 is connected to the second terminal of the switch S1, and the emitter of the transistor Q1 is connected to the electromagnetic chuck.
4. The crane control system as described in claim 3, characterized in that, The current regulation module also includes: a resistor R2 and a Zener diode D1; The first end of the resistor R2 is connected to the Vref reference voltage, the second end of the resistor R2 is connected to the cathode of the Zener diode D1, the anode of the Zener diode D1 is grounded, and the second end of the resistor R2 is connected to the inverting input terminal of the operational amplifier U1.
5. The overhead crane control system as described in claim 3, characterized in that, The hoisting control module also includes: switch S2 and relay KM2; The first terminal of the switch S2 is connected to the VDD power supply, the second terminal of the switch S2 is connected to the first power supply terminal of the relay KM2, the second power supply terminal of the relay KM2 is grounded, the first terminal of the relay KM2 is connected to the second terminal of the switch S1, and the second terminal of the relay KM2 is connected to the collector of the transistor Q1.
6. The crane control system as described in claim 1, characterized in that, The full magnetization detection module includes: a rheostat RP2 and a Zener diode D2; The first end of the variable resistor RP2 is connected to the electromagnetic chuck, the second end of the variable resistor RP2 is grounded, the sliding end of the variable resistor RP2 is connected to the cathode of the Zener diode D2, and the anode of the Zener diode D2 is connected to the control terminal of the motion control module.
7. The overhead crane control system as described in claim 6, characterized in that, The motion control module includes: transistor Q2 and relay KM1; The base of transistor Q2 is connected to the anode of Zener diode D2, the collector of transistor Q2 is connected to the first power supply terminal of relay KM1, the emitter of transistor Q2 is grounded, the second power supply terminal of relay KM1 is connected to VDD power supply, the first operating terminal of relay KM1 is used to connect to the second power supply, and the second operating terminal of relay KM1 is connected to the power supply terminal of AC motor.