CN104495617A - Stability-regulating operating system and stability-regulating method for crane grab - Google Patents

Abstract

Aiming at the technical problem that the grab bucket of the existing tower crane is always shaking during the working process, the present invention provides a stabilizing operation system for the grab bucket of the crane, which consists of three parts: a detection device, a signal sending and receiving and processing device, and a stabilizing device Composition: the detection device is installed on the crane and is responsible for detecting the motion parameters and environmental parameters of the crane; the signal sending and receiving and processing device generates a control signal according to the received detection data, and transmits the control signal to the stabilization device for execution; The present invention also provides a set of control methods for dynamically adjusting different working environments and working states to ensure that the working environment of the crane is always running in a safe state. Beneficial technical effects: the present invention can make the stabilization process of the grab bucket more stable and accurate, and realize real-time monitoring and feedback control in the entire stabilization process of the present invention, which improves the stability and reliability of the grab bucket in terms of control balance. sex and safety.

Description

Stability adjustment operation system and method for crane grab

technical field

The invention relates to the field of crane equipment, in particular to auxiliary control of a grab bucket of a tower crane, and in particular to a stability adjustment operation system and a stability adjustment method for a crane grab.

Background technique

Cranes are mainly used in construction, ports, workshops, construction sites and other occasions. In recent years, with the rapid development of the manufacturing industry, heavy loads and increasingly complex hoisting environments have made people raise concerns about the safety, stability, and reliability of hoisting equipment. higher requirements. The tower crane is high-altitude operation equipment. It is relatively high, has a large coverage area, and has a relatively long boom. It often works in harsh environments such as ports. In addition, operators and installers often work at high altitudes, so its safety, Stability requirements are high.

At present, the grab bucket of the tower crane is hung by a steel wire rope. Due to its relatively high working space and heavy material to be grabbed, it is easily affected by the wind when working in the port, causing the grab bucket to shake continuously during operation. The grab of the current tower crane is stabilized by the grab stabilizer. The grab stabilizer just adds a rope to the grab. The rope runs on the track through the counterweight on the boom to pull the grab to adjust the balance of the grab. It is controlled at will during the movement and cannot be controlled according to Adjust the balance of the grab according to the actual working conditions. Moreover, the shaking of the grab bucket in the working process is not only affected by the rotation of the boom, but also by the wind speed and wind direction. The force situation of the grab bucket is constantly changing, and it is also constantly shaking. It has a great influence on the load-bearing capacity of the rope and the stability of the boom. It affects the stability of grabbing materials, transferring materials and the safety of the whole machine.

Contents of the invention

Aiming at the technical problem that the grab bucket of the existing tower crane is always shaking during the working process, and the poor effect of stabilizing the grab bucket only through the counterweight type grab bucket stabilizer, the present invention proposes a An operation system and method for adjusting the stability of a crane grab in the occasions where the working space is large, affected by the wind, and the environment is relatively harsh. The invention has the technical characteristics of automation and intelligence, and can improve the stability of the grab The stability and safety of the operation process. The present invention is specifically as follows:

It is used for the stability adjustment operation system of the crane grab, and the crane to which the stability adjustment operation system is applicable includes a base 1, a turntable 2, a crane body 9, a boom 7, a first roller 6, a crane rope 10 and a grab bucket 13; , the base 1 is fixed on the foundation, the top of the base 1 is provided with a turntable 2, the top of the turntable 2 is provided with a crane body 9, the bottom end of the boom 7 is movably connected with the crane body 9, and the top of the boom 7 is provided with a second One roller 6; one end of the crane rope 10 is connected with the rope motor of the crane, and one end of the crane rope 10 is connected with the grab bucket 13 after bypassing the first roller 6; 7 Lift or drop relative to the crane body 9 in the vertical direction, and the crane rope 10 lifts or lowers the grab bucket 13 under the rotation of the rope motor;

The stabilizing operation system of the present invention consists of three parts: a detection device, a signal sending and receiving and processing device, and a stabilizing device;

The detection device is installed on the crane and is responsible for detecting the motion parameters and environmental parameters of the crane, and feeds back the detected motion parameters and environmental parameters as detection data to the signal transceiver and processing device;

The signal transceiving and processing device generates a control signal according to the received detection data, and transmits the control signal to the stabilization device for execution;

The stabilizer includes a guide rail assembly and an electric adjustment assembly; wherein, the guide rail assembly includes a guide rail 808; the guide rail assembly is installed on the boom of the crane; the electric adjustment assembly includes a stabilized rope 803 and a stabilized motor 809; The component is movably connected to the guide rail 808 of the guide rail component, and the electric adjustment component is connected with the grab bucket of the crane through the stabilizer rope 803; The assembly moves along the guide rail 808 toward the side of the crane body 9 or toward the side of the grab bucket 13; when the grab bucket 13 swings outward, when the electric adjustment assembly moves toward the side of the crane body 9, and through the stabilized rope in the electric adjustment assembly 803 tighten the grab bucket 13 towards the side of the crane body 9, and pull the grab bucket 13 inward; otherwise, when the grab bucket 13 swings inward, when the electric adjustment component moves toward the side of the grab bucket 13, reduce the stability adjustment. The traction force of the rope 803 to the grab bucket 13 impels the grab bucket 13 to swing outwards;

That is, through the stabilizing device, a force opposite to the real-time swing direction of the grab bucket 13 is always applied to the grab bucket 13 .

Adopt the stabilizing operation system of the present invention to carry out the stabilizing method of the crane grab bucket, carry out as follows:

Step 1. Initialization of detection device, signal sending and receiving and processing device, and stabilization device:

Turn on the power supply of the detection device, the signal transceiver and processing device, and the stabilizing device; establish a communication connection between the three; manually input the length value L of the boom 7 to the signal transceiver and processing device;

Step 2, obtain the real-time action parameters and environmental parameters of the crane by the detection device, and transmit them to the signal transceiver and processing device; wherein, the environmental parameters of the crane include information on the speed and direction of the wind, and the action parameters of the crane include the real-time information of the grab bucket 13. Position information, swing angle information of the boom 7 in the vertical plane, rotation angle information of the boom 7 in the horizontal plane, force information of the grab bucket 13;

Step 3, the OXYZ coordinate system is established with the crane body 9 as the coordinate origin by the signal receiving and processing device; the received real-time action parameters and environmental parameters of the crane are converted into the OXYZ coordinate system by the signal receiving and processing device: grab bucket 13 The surrounding wind speed value V, the force value F of the grab 13, the swing angle value α of the boom 7, the rotation angle value β of the boom 7, and the real-time coordinates (X _d , Y _d , Z _d ) of the grab bucket 13;

Step 4. The signal receiving and processing device judges whether the working environment of the crane is safe according to the force value F of the grab bucket 13 and the wind speed value V around the grab bucket 13:

When the force value F>0 kilograms (Kg) and the wind speed value V≥20 meters/second (m/s), the signal sending and receiving and processing device will alarm, prompting the operator to shut down the crane and stop the operation;

When the force value F ≤ 0 kilograms (Kg) and the wind speed value V ≥ 55 meters per second (m/s), the signal sending and receiving and processing device alarms, prompting the operator to shut down the crane and stop the operation;

When the force value F>0 kilograms (Kg) and the wind speed value V<20 meters/second (m/s), or when the force value F≤20 kilograms (Kg) and the wind speed value V<55 meters/second (m/s) s), go to the next step;

Step 5, measure and calculate the position of the end of the boom 7 near the first roller 6 side according to the swing angle value α of the boom 7, the rotation angle value β of the boom 7 and the length value L of the boom 7 by the signal transceiver and processing device The coordinate value X _a in the X-axis direction = L×Cosα×Cosβ, referred to as the X-axis coordinate value X _a of the boom:

Step 6. The X-axis coordinate value X _a of the boom 7 is compared with the real-time X-axis coordinate value X _d of the grab bucket 13 by the signal receiving and processing device:

If the X-axis coordinate value X _a of the boom 7 is not equal to the real-time X-axis coordinate value X _d of the grab bucket 13, the grab bucket 13 is in an unstable position, and the signal sending and receiving and processing device sends an order to the stabilizing device to run instruction;

If the X-axis coordinate value X _a of the boom 7 is equal to the real-time X-axis coordinate value X _d of the grab bucket 13, the grab bucket 13 is in a stable position, and the signal sending and receiving and processing device sends a stop operation instruction to the stabilizing device;

Step 7. When the grab bucket 13 completes the lifting, close the detection device, the signal sending and receiving and processing device and the stabilizing device, close the crane, and end the operation.

Beneficial technical effect

The stabilizing operation system and stabilizing method for the crane grab described in the present invention are proposed for the unstable swing of the grab during operation, and the original grab stabilizer is changed to a rack and pinion mechanism. In the present invention, the guide rail assembly and the electric adjustment assembly are used together, and the motor in the electric adjustment assembly drives its movement, so that the original random control of the grab stabilizer is changed to the automatic control of the present invention. The rack and pinion transmission mechanism in the present invention has high reliability and a stable working process, which can make the stabilization process of the grab bucket more stable and accurate, and realizes real-time monitoring and feedback control during the entire stabilization process of the present invention, improving the grasping capacity. The stability, reliability and safety of the bucket in controlling the balance. The wind speed and direction sensor is used in the monitoring process, which can monitor the wind speed in real time, so that the crane grab can better adapt to changes in the surrounding environment.

The detection device of the present invention uses angular displacement sensors, pressure sensors, displacement sensors and wind speed and wind direction sensors, which can realize real-time monitoring of position, wind speed and wind direction, and pass the collected signals through signal conditioning circuits and analog-to-digital conversion circuits through wireless transceiver devices It is sent to the programmable controller PLC, and the output terminal of the PLC is connected to the interface of the industrial computer. Since the grab has different restrictions on the wind speed when it is empty or full, the wind speed exceeds the maximum required by the crane when the grab is empty or full. In the case of wind speed, an alarm signal is sent through the alarm device, and the operator stops the crane after hearing the alarm signal. When the wind speed permits, the industrial computer is used to control the operation of the motor in the grab stability mechanism, thereby adjusting the position of the grab to make it work as stably and safely as possible, which greatly improves the working process. safety.

Description of drawings

Fig. 1 is a structural block diagram of the stabilization operation system of the present invention.

Fig. 2 is a structural block diagram of the detection device and the signal receiving and processing device.

Figure 3 is a top view of the stabilizing device.

FIG. 4 is a cross-sectional view along line A-A of FIG. 3 .

FIG. 5 is a schematic perspective view of point B in FIG. 3 .

Fig. 6 is a flow chart of the method for stabilizing a crane grab according to the present invention.

Fig. 7 is a working diagram of the stabilization operation system of the present invention.

The serial numbers in the figure are: base 1, turntable 2, first angular displacement sensor 3, second angular displacement sensor 4, second control wireless transmission device 5, first roller 6, boom 7, crane body 9, crane rope 10 , wind speed and direction sensor 11, position sensor 12, grab bucket 13, strain gauge 14, first control wireless transmission device 15, rack 801, shaft 802, stabilizing rope 803, second roller 804, gear 805, first baffle 806, guide rail platform 807, guide rail 808, stabilizer motor 809, motor bracket 810, second baffle plate 811, coupling 812, retaining ring 813, channel steel 814, steel plate 815, rack fixing plate 817, first control wireless Receiving device 901 , second control wireless receiving device 902 , signal conditioning circuit 903 , analog-to-digital conversion circuit 904 , alarm device 905 , programmable logic controller PLC 906 , and industrial computer 907 .

Detailed ways

Implementation of the present invention will be further described below in conjunction with accompanying drawing:

It is used to stabilize the operation system of the crane grab, and the crane it is suitable for includes a base 1, a turntable 2, a crane body 9, a boom 7, a first roller 6, a crane rope 10 and a grab bucket 13; wherein, the base 1 is fixed on On the foundation, a turntable 2 is provided on the top of the base 1, a crane body 9 is arranged on the top of the turntable 2, the bottom end of the boom 7 is movably connected with the crane body 9, and the top of the boom 7 is provided with a first roller 6; One end of the rope 10 is connected with the rope motor of the crane, and one end of the crane rope 10 is connected with the grab bucket 13 after going around the first roller 6; Lifting or falling in the vertical direction, the crane rope 10 lifts or lowers the grab bucket 13 under the rotation of the rope motor, as shown in FIG. 7 .

Referring to Figure 1, the stability adjustment system used for crane grabs consists of three parts: a detection device, a signal transceiver and processing device, and a stability adjustment device;

The detection device is installed on the crane and is responsible for detecting the motion parameters and environmental parameters of the crane, and feeds back the detected motion parameters and environmental parameters as detection data to the signal transceiver and processing device;

The signal transceiving and processing device generates a control signal according to the received detection data, and transmits the control signal to the stabilization device for execution;

Referring to Fig. 3, described stabilizing device comprises guide rail assembly and electric adjustment assembly; Wherein, guide rail assembly comprises a guide rail 808; Guide rail assembly is installed on the boom of crane; Electric adjustment assembly comprises a stabilized rope 803 and a stabilized motor 809; the electric adjustment assembly is movably connected on the guide rail 808 of the guide rail assembly, and the electric adjustment assembly is connected with the grab bucket of the crane through the stabilized rope 803; Drive the electric adjustment assembly to move toward the crane body 9 side or the grab bucket 13 side along the guide rail 808; when the grab bucket 13 swings outwards, the electric adjustment assembly moves toward the crane body 9 side, and through the electric adjustment assembly Adjust the rope 803 to tighten the grab bucket 13 towards the side of the crane body 9, that is, to pull the grab bucket 13 inward; Small adjustment stabilizes the traction of the rope 803 to the grab bucket 13, impels the grab bucket 13 to swing outwards, see Fig. 7 for details;

That is, through the stabilizing device, a force opposite to the real-time swing direction of the grab bucket 13 is always applied to the grab bucket 13 .

Referring to Fig. 2, detection device comprises wind speed wind direction sensor 11, position sensor 12, the first angular displacement sensor 3, the second angular displacement sensor 4 and strain gauge 14; Wherein,

The wind speed and direction sensor 11 is installed on the crane rope 10 near the grab bucket 13 side for detecting and feeding back the speed and direction of the wind;

The position sensor 12 is installed on the top of the grab bucket 13 for measuring and feeding back the real-time position of the grab bucket 13;

The first angular displacement sensor 3 and the second angular displacement sensor 4 are all installed on the boom 7 near the turntable 2 side, the first angular displacement sensor 3 is used to measure and feed back the swing angle of the boom 7 in the vertical plane, the second Two angular displacement sensors 4 are used to measure and feed back the angle of rotation of the boom 7 in the horizontal plane;

Strain gauges 14 are evenly distributed on the grab bucket 13 to detect and feed back the force condition of the grab bucket 13;

The information on the speed and direction of the wind is the environmental parameters of the crane, the real-time position information of the grab bucket 13, the swing angle information of the boom 7 in the vertical plane, the rotation angle information of the boom 7 in the horizontal plane, and the force information of the grab bucket 13 is the motion parameter of the crane.

Referring to Fig. 2, the signal transceiving and processing device includes a first control wireless transmission device 15, a second control wireless transmission device 5 and a signal receiving and processing unit;

Wherein, the first control wireless transmission device 15 is installed on the top of the grab bucket 13, and the signal input end of the first control wireless transmission device 15 is respectively connected with the signal output end of the wind speed and direction sensor 11, the signal output end of the position sensor 12, and the strain gauge 14. The signal output terminal is connected;

The second control wireless transmission device 5 is installed on the boom 7 near the turntable 2 side, and the signal input end of the second control wireless transmission device 5 is connected with the signal output end of the first angular displacement sensor 3 and the second angular displacement sensor 4 respectively. The signal output terminal is connected;

The first control wireless sending device 15 and the second control wireless sending device 5 are respectively wirelessly connected and communicated with the signal receiving and processing unit.

Referring to Fig. 2, the signal receiving and processing unit is composed of a first control wireless receiving device 901, a second control wireless receiving device 902, a signal conditioning circuit 903, an analog-to-digital conversion circuit 904, an alarm device 905, a programmable logic controller PLC906 and Composition of industrial computer 907;

The signal output end of the first control wireless receiving device 901, the signal output end of the second control wireless receiving device 902 are respectively connected with the signal input end of the signal conditioning circuit 903; It is connected with the signal input end of the programmable logic controller PLC906; the signal output end of the programmable logic controller PLC906 is respectively connected with the signal input end of the alarm device 905 and the signal input end of the industrial computer 907; the signal output of the industrial computer 907 The terminal is connected with the stabilizing device;

Wherein, the first control wireless receiving device 901 is wirelessly connected and communicates with the first control wireless transmitting device 15, and the second control wireless receiving device 902 is wirelessly connected and communicating with the second control wireless transmitting device 5;

The signal conditioning circuit 903 is responsible for conditioning and amplifying the signals received by the first control wireless receiving device 901 and the second control wireless receiving device 902 and outputting them to the next stage;

The analog-to-digital conversion circuit 904 is responsible for converting the analog signal amplified and conditioned by the signal conditioning circuit 903 into a digital signal;

The programmable logic controller PLC906 is responsible for specific judgment and processing of the signals converted by the analog-to-digital conversion circuit 904, and generates control commands;

The alarm device 905 sends out an alarm signal under the control of the programmable logic controller PLC906, prompting the driver to cut off the power supply and stop the crane after hearing the alarm signal;

The industrial computer 907 drives the stabilizing motor 809 in the stabilizing device to run according to the control command generated by the programmable logic controller PLC906. At the same time, the display screen of the industrial computer 907 displays the program instructions executed by the programmable logic controller PLC906 in real time and the stabilizing motor 809. operating status.

Referring to Fig. 3, the guide rail assembly also includes a rack 801, a first baffle plate 806, a guide rail platform 807, a second baffle plate 811, a channel steel 814, a steel plate 815 and a rack fixing plate 817; wherein the guide rail platform 807 is fixedly connected At the bottom of the guide rail 808; one side of the guide rail platform 807 in the length direction is connected with a channel steel 814; the bottom of the channel steel 814 connected to the guide rail platform 807 is connected to the bottom edge of another channel steel 814 by a strip-shaped steel plate 815 , that is, the cross-section of the combination of two channel steels 814 and steel plates 815 is U-shaped; a long strip-shaped rack fixing plate 817 is connected to the inside of the two channel steels 814; the rack 801 is connected by screws 816 Fixed on the top surface of the rack fixing plate 817; the guide rail platform 807, the channel steel 814, the steel plate 815 and the rack fixing plate 817 are all rectangular blocks with the same length as the guide rail 808; the length of the guide rail 808 is not less than the length of the boom 7 1/2; the end of the guide rail 808 towards the crane body 9 side is provided with a first baffle plate 806, and the end of the guide rail 808 towards the grab bucket 13 side is provided with a second baffle plate 811; The steel plate 815 is welded together with the boom 7, see Fig. 4 for details.

Referring to Fig. 4, the electric adjustment assembly also includes a shaft 802, a second roller 804, a gear 805, a motor bracket 810, a coupling 812, and a retaining ring 813; the motor bracket 810 is movably connected to the rail platform 807, and Can move along the length direction of guide rail 808; The top of motor support 810 is provided with stabilizer motor 809; ; The rotating shaft of the motor 809 is fixedly connected to one end of the shaft 802 through the coupling 812; the retaining ring 813 is fixed on the shaft 802 through an interference fit for the axial movement of the fixed gear 805); the retaining ring 813 The end face on the other side is connected with one axial end of the gear 805 (the retaining ring 813 is fixed on the shaft 802 by interference fit, and the retaining ring 813 is used to fix/limit the axial movement of the gear 805; the gear 805 The stripes of the toothed edge and the rack 801 interlock; the second roller 804 is installed on the shaft 802 outside the gear 805 by an interference fit); one end of the stable rope 803 is fixedly connected to the second roller 804 On the radial side wall, the other end of the stabilizing rope 803 is connected with the grab bucket 13, as shown in FIG. 5 .

Furthermore, when the stabilizer motor 809 rotates forward according to the control instruction of the signal receiving and processing device, the gear 805 is driven to rotate forward in the same direction, and under the reaction force between the toothed edge of the gear 805 and the rack 801, the electric adjustment assembly Move toward the first roller 6 side along the guide rail 808; meanwhile, the second roller 804 that rotates forward together with the motor 809 will stabilize the rope 803 and coil it on the radial side wall of the second roller 804, and will be The grab bucket 13 that swings towards the crane body 9 is pulled in the opposite direction of its movement, preventing the grab bucket 13 connected to the stabilizer rope 803 from shifting to the crane body 9 side;

Furthermore, when the stabilizer motor 809 reverses according to the control instruction of the signal sending and receiving and processing device, the gear 805 is driven to reverse in the same direction, and under the reaction force between the toothed edge of the gear 805 and the rack 801, the electric adjustment assembly Move toward the crane body 9 side along the guide rail 808; at the same time, the second roller 804 reversed together with the motor 809 of the stabilizer will loosen the stabilized rope 803 coiled on the radial side wall of the second roller 804, and the The grab bucket 13 is pulled towards the side of the crane body 9 to prevent the grab bucket 13 connected to the stabilizing rope 803 from swinging outward;

That is, through the movement of the electric adjustment assembly on the guide rail assembly, the stabilizing rope 803 wound on the radial side wall of the second roller 804 will be wound tight or loosened, and then the force will be given to the grab bucket 13, and finally the grab bucket 13 will be in the hanging position. The arm 7 is always vertical to the ground during the lifting or lowering movement.

Referring to Fig. 4, the bottom of the motor bracket 810 is provided with a groove matching the guide rail 808; Anti-fall grooves.

Referring to Fig. 6, the method for stabilizing the grab bucket of a crane is carried out by using the stabilizing operation system of the present invention, specifically as follows:

Step 1. Initialization of detection device, signal sending and receiving and processing device, and stabilization device:

Turn on the power supply of the detection device, the signal transceiver and processing device, and the stabilizing device; establish a communication connection between the three; manually input the length value L of the boom 7 to the signal transceiver and processing device;

Step 2, obtain the real-time action parameters and environmental parameters of the crane by the detection device, and transmit them to the signal transceiver and processing device; wherein, the environmental parameters of the crane include information on the speed and direction of the wind, and the action parameters of the crane include the real-time information of the grab bucket 13. Position information, swing angle information of the boom 7 in the vertical plane, rotation angle information of the boom 7 in the horizontal plane, force information of the grab bucket 13;

Step 3, the OXYZ coordinate system is established with the crane body 9 as the coordinate origin by the signal receiving and processing device; the received real-time action parameters and environmental parameters of the crane are converted into the OXYZ coordinate system by the signal receiving and processing device: grab bucket 13 The surrounding wind speed value V, the force value F of the grab 13, the swing angle value α of the boom 7, the rotation angle value β of the boom 7, and the real-time coordinates (X _d , Y _d , Z _d ) of the grab bucket 13;

The optimal scheme for establishing the OXYZ coordinate system is: the connection point between the boom 7 and the crane body 9 is the origin O, the direction pointed to when the boom 7 is horizontal is the X axis, and the direction pointed to when the boom 7 is vertical is Z Axial, the Y-axis is the straight line passing through the center O and perpendicular to the X-axis and the Z-axis at the same time;

Step 4. The signal receiving and processing device judges whether the working environment of the crane is safe according to the force value F of the grab bucket 13 and the wind speed value V around the grab bucket 13:

When the force value F>0 kilograms (Kg) and the wind speed value V≥20 meters/second (m/s), the signal sending and receiving and processing device will alarm, prompting the operator to shut down the crane and stop the operation;

When the force value F ≤ 0 kilograms (Kg) and the wind speed value V ≥ 55 meters per second (m/s), the signal sending and receiving and processing device alarms, prompting the operator to shut down the crane and stop the operation;

When the force value F>0 kilograms (Kg) and the wind speed value V<20 meters/second (m/s), or when the force value F≤20 kilograms (Kg) and the wind speed value V<55 meters/second (m/s) s), go to the next step;

Step 5, measure and calculate the position of the end of the boom 7 near the first roller 6 side according to the swing angle value α of the boom 7, the rotation angle value β of the boom 7 and the length value L of the boom 7 by the signal transceiver and processing device The coordinate value X _a in the X-axis direction = L×Cosα×Cosβ, referred to as the X-axis coordinate value X _a of the boom:

Step 6. The X-axis coordinate value X _a of the boom 7 is compared with the real-time X-axis coordinate value X _d of the grab bucket 13 by the signal receiving and processing device:

If the X-axis coordinate value X _a of the boom 7 is not equal to the real-time X-axis coordinate value X _d of the grab bucket 13, the grab bucket 13 is in an unstable position, and the signal sending and receiving and processing device sends an order to the stabilizing device to run instruction;

If the X-axis coordinate value X _a of the boom 7 is equal to the real-time X-axis coordinate value X _d of the grab bucket 13, the grab bucket 13 is in a stable position, and the signal sending and receiving and processing device sends a stop operation instruction to the stabilizing device;

Step 7. When the grab bucket 13 completes the lifting, close the detection device, the signal sending and receiving and processing device and the stabilizing device, close the crane, and end the operation.

Furthermore, if the X-axis coordinate value X _a of the boom 7 < the real-time X-axis coordinate value X _d of the grab bucket 13, the signal receiving and processing device sends a reverse control command to the stabilizing device, so that the stabilizing The motor 809 drives the gear 805 to rotate in reverse, and under the reaction force between the toothed edge of the gear 805 and the rack 801, the electric adjustment assembly is moved toward the side of the crane body 9; The reversed second roller 804 unclamps the stabilizing rope 803 coiled on the radial side wall of the second roller 804, pulls the grab bucket 13 towards the crane body 9 side, and prevents the grab bucket connected to the stabilizing rope 803. 13 swing outward;

If the X-axis coordinate value X _a of the boom 7 > the real-time X-axis coordinate value X _d of the grab bucket 13, the signal sending and receiving and processing device sends a forward rotation control command to the stabilizing device, so that the stabilizing motor 809 drives The gear 805 rotates in the normal phase, and under the reaction force between the toothed edge of the gear 805 and the rack 801, the electric adjustment assembly is moved toward the first roller 6 side; The second roller 804 coils the stabilizing rope 803 on the radial side wall of the second roller 804, and pulls the grab bucket 13 swinging towards the crane body 9 in the opposite direction of its movement, preventing and stabilizing the rope 803 The connected grab bucket 13 moves to one side of the crane body 9 .

Claims (9)

1. It is used for the stabilizing operation system of the crane grab. The crane applicable to the stabilizing operation system includes the base (1), the turntable (2), the crane body (9), the boom (7), the first roller (6 ), a crane rope (10) and a grab bucket (13); wherein, the base (1) is fixed on the foundation, a turntable (2) is arranged on the top of the base (1), and a crane body is arranged on the top of the turntable (2) (9), the bottom end of the boom (7) is movably connected with the crane body (9), and the top of the boom (7) is provided with a first roller (6); one end of the crane rope (10) is connected to the rope motor of the crane connection, one end of the crane rope (10) bypasses the first roller (6) and connects with the grab (13); the crane body (9) rotates in the horizontal direction relative to the turntable (2), and the boom (7) relative to the crane The main body (9) is lifted or lowered vertically, and the crane rope (10) lifts or lowers the grab bucket (13) under the rotation of the rope motor; The stabilizing device consists of three parts; The detection device is installed on the crane and is responsible for detecting the motion parameters and environmental parameters of the crane, and feeds back the detected motion parameters and environmental parameters as detection data to the signal transceiver and processing device; The signal transceiving and processing device generates a control signal according to the received detection data, and transmits the control signal to the stabilization device for execution; The stabilization device includes a guide rail assembly and an electric adjustment assembly; wherein, the guide rail assembly includes a guide rail (808); the guide rail assembly is installed on the boom of the crane; the electric adjustment assembly includes a stabilization rope (803) and a stabilization motor (809); the electric adjustment assembly is movably connected on the guide rail (808) of the guide rail assembly, and the electric adjustment assembly is connected with the grab bucket of the crane through the stabilized rope (803); Driven by the control signal sent by the processing device, the electric adjustment assembly is driven to move along the guide rail (808) toward the side of the crane body (9) or toward the side of the grab (13); when the grab (13) swings outward, the electric adjustment The assembly moves toward the side of the crane body (9), and the grab (13) is tightened toward the side of the crane body (9) through the stabilized rope (803) in the electric adjustment assembly, that is, the grab (13) is inward Conversely, when the grab (13) swings inward, when the electric adjustment assembly moves toward the grab (13) side, the traction of the stabilizing rope (803) to the grab (13) is reduced, prompting the grab ( 13) Swing outward; that is, through the stabilizing device, a force opposite to the real-time swing direction of the grab (13) is always applied to the grab (13). 2. The stability adjustment system for crane grabs according to claim 1, characterized in that: the detection device includes a wind speed and direction sensor (11), a position sensor (12), a first angular displacement sensor (3), a second Two angular displacement sensors (4) and strain gauges (14); among them, the wind speed and direction sensor (11) is installed on the crane rope (10) close to the grab (13) side to detect and feed back the speed and direction of the wind ; The position sensor (12) is installed on the top of the grab (13) for measuring and feeding back the real-time position of the grab (13); the first angular displacement sensor (3) and the second angular displacement sensor (4) are installed on On the boom (7) near the turntable (2), the first angular displacement sensor (3) is used to measure and feed back the swing angle of the boom (7) in the vertical plane, and the second angular displacement sensor (4) is used to It is used to measure and feed back the rotation angle of the boom (7) in the horizontal plane; the strain gauges (14) are evenly distributed on the grab bucket (13) to detect and feed back the force status of the grab bucket (13); the wind speed and direction information is the environmental parameters of the crane, the real-time position information of the grab (13), the swing angle information of the boom (7) in the vertical plane, the rotation angle information of the boom (7) in the horizontal plane, and the force of the grab bucket (13) The information is the action parameter of the crane. 3. The stability adjustment system for crane grabs according to claim 1, characterized in that: the signal transceiver and processing device includes a first control wireless transmission device (15), a second control wireless transmission device (5) and Signal receiving and processing unit; Among them, the first control wireless transmission device (15) is installed on the top of the grab bucket (13), and the signal input end of the first control wireless transmission device (15) is respectively connected with the signal output end of the wind speed and direction sensor (11), the position sensor ( 12) and the signal output end of the strain gauge (14) are connected; The second control wireless transmission device (5) is installed on the boom (7) close to the side of the turntable (2), and the signal input end of the second control wireless transmission device (5) is connected with the first angular displacement sensor (3) respectively. The signal output terminal is connected to the signal output terminal of the second angular displacement sensor (4); The first control wireless sending device (15) and the second control wireless sending device (5) are wirelessly connected and communicated with the signal receiving and processing unit respectively. 4. The stabilizing operation system for a crane grab as claimed in claim 3, characterized in that: The signal receiving and processing unit is composed of a first control wireless receiving device (901), a second control wireless receiving device (902), a signal conditioning circuit (903), an analog-to-digital conversion circuit (904), an alarm device (905), and Composition of programming logic controller PLC (906) and industrial computer (907); The signal output end of the first control wireless receiving device (901) and the signal output end of the second control wireless receiving device (902) are respectively connected to the signal input end of the signal conditioning circuit (903); the signal of the signal conditioning circuit (903) The output terminal is connected to the signal input terminal of the programmable logic controller PLC (906) through the analog-to-digital conversion circuit (904); the signal output terminal of the programmable logic controller PLC (906) is respectively connected to the signal input terminal of the alarm device (905) terminal and the signal input terminal of the industrial computer (907); the signal output terminal of the industrial computer (907) is connected with the stabilizing device; wherein, the first control wireless receiving device (901) and the first control wireless transmitting device (15 ) wireless connection and communication, the second control wireless receiving device (902) wirelessly connects and communicates with the second control wireless transmitting device (5); the signal conditioning circuit (903) is responsible for connecting the first control wireless receiving device (P01) and the second Control the signal received by the wireless receiving device (P02) to condition and amplify it and output it to the next level; The analog-to-digital conversion circuit (904) is responsible for converting the analog signal amplified and conditioned by the signal conditioning circuit (903) into a digital signal; The programmable logic controller PLC (906) is responsible for the specific judgment and processing of the signal converted by the analog-to-digital conversion circuit (904), and generates control commands; the alarm device (905) is connected to the programmable logic controller PLC ( 906) sends out an alarm signal to prompt the driver to cut off the power supply and stop the crane after hearing the alarm signal; the industrial computer (907) drives the stabilizing device according to the control command generated by the programmable logic controller PLC (906) The middle regulator motor (809) runs, and at the same time, the display screen of the industrial computer (907) displays the program instructions executed by the programmable logic controller PLC (906) in real time and the operation status of the regulator motor (809). 5. The stabilizing operation system for a crane grab as claimed in claim 1, characterized in that: The rail assembly also includes a rack (801), a first baffle (806), a rail platform (807), a second baffle (811), a channel steel (814), a steel plate (815) and a rack fixing plate ( 817); wherein, the guide rail platform (807) is fixedly connected to the bottom of the guide rail (808); one side of the guide rail platform (807) in the length direction is connected with a channel steel (814); The bottom of the channel steel (814) connected to the platform (807) is connected to the bottom edge of another channel steel (814), that is, the cross section of the combination of two channel steel (814) and the steel plate (815) is U-shaped ; There is a strip-shaped rack fixing plate (817) connected to the inner sides of the two channel steels (814); the rack (801) is fixed on the top surface of the rack fixing plate (817) by screws (816) ; The guide rail platform (807), channel steel (814), steel plate (815) and rack fixing plate (817) are all rectangular blocks with the same length as the guide rail (808); the length of the guide rail (808) is not less than the boom (7) 1/2 of the length; a first baffle (806) is provided at the end of the guide rail (808) facing the side of the crane body (9), and a first baffle (806) is provided at the end of the guide rail (808) facing the grab (13) side ) is provided with a second baffle (811); the steel plate (815) is welded together with the boom (7); The electric adjustment assembly also includes a shaft (802), a second roller (804), a gear (805), a motor bracket (810), a coupling (812), and a retaining ring (813); the motor bracket (810 ) is movably connected to the guide rail platform (807), and can move along the length direction of the guide rail (808); a motor (809) is provided on the top of the motor bracket (810); the rotation of the motor (809) The shaft is perpendicular to the side of the guide rail platform (807) in the length direction and points to the side of the channel steel (814); the rotation shaft of the motor (809) is fixed to one end of the shaft (802) through a coupling (812) connection; the retaining ring (813) is installed on the shaft (802) by interference fit, and the retaining ring (813) is used to limit the axial movement of the gear (805); the toothed edge of the gear (805) and The stripes of the rack (801) are engaged with each other; the second roller (804) is fixed on the shaft (802) outside the gear (805) by means of interference fit; one end of the stabilizer rope (803) is fixedly connected to the On the radial sidewall of the two rollers (804), the other end of the stable rope (803) is connected with the grab bucket (13). 6. The stabilizing operation system for a crane grab as claimed in claim 5, characterized in that: When the stabilized motor (809) rotates forward according to the control command of the signal receiving and processing device, it drives the gear (805) to rotate forward in the same direction, under the reaction force between the toothed edge of the gear (805) and the rack (801) , move the electric adjustment assembly along the guide rail (808) toward the side of the first roller (6); at the same time, the second roller (804) rotating forward together with the stabilization motor (809) will stabilize the rope (803) Coiled on the radial side wall of the second roller (804), pull the grab bucket (13) that is swinging towards the side of the crane body (9) to the opposite direction of its movement, preventing it from being connected to the stabilizer rope (803) The grab bucket (13) is offset to the side of the crane body (9); When the stabilized motor (809) reverses according to the control instruction of the signal receiving and processing device, the gear (805) is driven to reverse in the same direction, and under the reaction force between the toothed edge of the gear (805) and the rack (801), , move the electric adjustment assembly along the guide rail (808) toward the side of the crane body (9); at the same time, the second roller (804) that reverses together with the stabilization motor (809) will coil around the second roller (804 ) loosen the stabilizing rope (803) on the radial side wall, pull the grab (13) toward the side of the crane body (9), and prevent the grab (13) connected to the stabilizing rope (803) from going outward swing; That is, through the movement of the electric adjustment assembly on the guide rail assembly, the stabilizing rope (803) wound on the radial side wall of the second roller (804) is wound tightly or loosened, and then the grab (13) is given a force, and finally Make the grab bucket (13) vertical to the ground all the time during the lifting or lowering motion process of the boom (7). 7. The stability adjustment system for crane grabs according to claim 5, characterized in that: the bottom of the motor bracket (810) is provided with a groove matching the guide rail (808); in the motor bracket ( The side wall of the groove of 810) is provided with an anti-fall projection; the side wall of the guide rail (808) is provided with a corresponding anti-fall groove. 8. The method for stabilizing the crane grab by adopting the stabilizing operation system according to claim 1 is characterized in that: proceed as follows: Step 1. Initialization of detection device, signal sending and receiving and processing device, and stabilization device: Turn on the power supply of the detection device, the signal transceiver and processing device, and the stabilization device; establish a communication connection between the three; manually input the length value L of the boom (7) to the signal transceiver and processing device; Step 2. Obtain the real-time action parameters and environmental parameters of the crane by the detection device, and transmit them to the signal receiving and processing device; wherein, the environmental parameters of the crane include wind speed and direction information, and the action parameters of the crane include grab (13) The real-time position information of the boom (7), the swing angle information of the boom (7) in the vertical plane, the rotation angle information of the boom (7) in the horizontal plane, and the force information of the grab bucket (13); Step 3: The OXYZ coordinate system is established with the crane body (9) as the coordinate origin by the signal receiving and processing device; the received real-time action parameters and environmental parameters of the crane are converted into the OXYZ coordinate system by the signal receiving and processing device: The wind speed value V around the bucket (13), the force value F of the grab bucket (13), the swing angle value α of the boom (7), the rotation angle value β of the boom arm (7), and the real-time Coordinates(X _d , Y _d , Z _d ); Step 4. The signal receiving and processing device judges whether the working environment of the crane is safe according to the force value F of the grab (13) and the wind speed value V around the grab (13): When the force value F>0 kilograms (Kg) and the wind speed value V≥20 meters/second (m/s), the signal sending and receiving and processing device will alarm, prompting the operator to shut down the crane and stop the operation; When the force value F ≤ 0 kilograms (Kg) and the wind speed value V ≥ 55 meters per second (m/s), the signal sending and receiving and processing device alarms, prompting the operator to shut down the crane and stop the operation; When the force value F>0 kilograms (Kg) and the wind speed value V<20 meters/second (m/s), or when the force value F≤20 kilograms (Kg) and the wind speed value V<55 meters/second (m/s) s), go to the next step; Step 5. According to the swing angle value α of the boom (7), the rotation angle value β of the boom (7) and the length value L of the boom (7), calculate a distance close to the first roller (6) by the signal receiving and processing device. The coordinate value X _a of the end of the boom (7) on the side in the X-axis direction = L×Cosα×Cosβ, referred to as the X-axis coordinate value X _a of the boom: Step 6. The X-axis coordinate value X a of the boom (7) is compared with the real-time X-axis coordinate value _{X d of} the grab (13) by the signal receiving and processing device: If the X-axis coordinate value X _a of the boom (7) is not equal to the real-time X-axis coordinate value X _d of the grab bucket (13), the grab bucket (13) is in an unstable position, and the signal sending and receiving and processing device sends The stabilizing device issues operation instructions; If the X-axis coordinate value X _a of the boom (7) is equal to the real-time X-axis coordinate value X _d of the grab bucket (13), the grab bucket (13) is in a stable position, and the signal sending and receiving and processing device will adjust to the stable position. The device issues a stop command; Step 7. When the grab bucket (13) completes lifting, close the detection device, the signal sending and receiving and processing device and the stabilization device, close the crane, and end the operation. 9. The method for stabilizing the grab bucket of a crane as claimed in claim 8, characterized in that: If the X-axis coordinate value X _a of the boom (7) < the real-time X-axis coordinate value X _d of the grab bucket (13), the signal sending and receiving and processing device sends a reverse control command to the stabilizing device, so that the adjustment The stabilizing motor (809) drives the gear (805) to rotate in reverse, and under the reaction force between the toothed edge of the gear (805) and the rack (801), the electric adjustment component moves toward the side of the crane body (9); At the same time, make the second roller (804) reversed together with the motor (809) to loosen the rope (803) coiled on the radial side wall of the second roller (804), and the grab ( 13) Pull toward the side of the crane body (9) to prevent the grab (13) connected to the stabilizer rope (803) from swinging outward; If the X-axis coordinate value X _a of the boom (7) > the real-time X-axis coordinate value X _d of the grab bucket (13), the signal sending and receiving and processing device sends a forward rotation control command to the stabilizing device, so that the adjustment The stabilizing motor (809) drives the gear (805) to rotate in normal phase, and under the reaction force between the toothed edge of the gear (805) and the rack (801), the electric adjustment assembly moves toward the side of the first roller (6); At the same time, the second roller (804) that makes the forward rotation of the motor (809) will be coiled on the radial side wall of the second roller (804) with the stabilizer rope (803), and will be moving toward the crane body ( 9) Pull the grab bucket (13) swinging on one side to the opposite direction of its movement, preventing the grab bucket (13) connected to the stabilizing rope (803) from moving to the side of the crane body (9).