The invention discloses a grab bucket anti-oscillation method applicable to a grab bucket crane. The grab bucket anti-oscillation method comprises the following steps: at the starting period of a trolley, initiatively controlling the trolley acceleration to be increased, gradually increasing deviation S of a grab bucket, and enabling the trolley to enter a constant-speed motion when the speed V2 of the grab bucket is identical to the speed V1 of the trolley and a deviation angle theta of the grab bucket is not more than a deviation angle threshold value theta minute; maintaining the deviation S of the grab bucket to be less than or equal to a deviation threshold value Sminute in the constant-speed motion of the trolley; at the stopping period of the trolley, initiatively controlling the trolley acceleration to be lowered, gradually decreasing the deviation of the grab bucket, and when the trolley is stopped, the deviation S of the grab bucket is smaller than a safety distance between the grab bucket and a pond wall. The method has advantages that the large mass and long oscillation period of the grab bucket are unfavorable factors for feeding back the oscillation prevention, however in the initiative anti-oscillation process, the large mass and long oscillation period can reduce an error caused by the calculation, interference and other factors, so that the oscillation prevention can be well realized, and the operation efficiency can be guaranteed.
Grab bucket anti-oscillation method applicable to grab bucket crane
2015-10-07
Patent
Elektronische Ressource
Englisch
IPC: | B66C Krane , CRANES |
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Europäisches Patentamt | 2023
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