CN103258088B - A kind of double-crane work compound load distribution method - Google Patents

Abstract

The invention discloses a kind of double-crane work compound load distribution method, step is: three-dimensional scenic modeling; Crane type selecting; Crane configures; Double-crane collaborative lifting action calculates; Double-crane is worked in coordination with Hoisting Parameters and is calculated; Reach lifting impact point; Lifting terminates.First the present invention by the influence factor of analyzing influence rated load weight, sets up the relational model of rated load weight; Secondly by analyzing work compound process, in conjunction with Dynamics of Cranes characteristic, the real-time load model of the research each crane of work compound process, improves the security of hoisting process.<pb pnum="1" />

Description

A kind of double-crane work compound load distribution method

Technical field

The present invention relates to Crane Load and distribute field, particularly a kind of double-crane work compound load distribution method.

Background technology

Crane as a kind of indispensable engineering machinery, in the developments of the national economy such as petrochemical complex, power construction, water conservancy and hydropower, bridge construction play in vital role.Along with China's rapid development of economy, China's all trades and professions are in the ascendant, especially the aspect construction scale such as metallurgy, nuclear power, harbour is increasing, Large-scale Hoisting is increasing, operating environment is day by day complicated, separate unit crane often can not meet job requirements, and two-shipper or multimachine lift increasing.

At present, two-shipper lifting is often taked manually to work out lifting operation scheme, relies on artificial experience to coordinate lifting.And two-shipper lifting lacks theoretical direction that is effective, science, only with artificial experience, has subjectivity and one-sidedness, fully can not ensure that the safety of lifting operation is carried out, and efficiency is very low, adds the cost of lifting.

Two-shipper lifting operation is complicated, and along with the change in suspension centre speed and operation orientation, the load acting on certain suspension centre may change, thus because load diatibution is uneven, the perils such as arm that break occurs.

In this case, be necessary on the one hand to analyze the dynamic load that lifting operation process coordinated by two-shipper, prevent certain crane overload and have an accident, thus proposing rational double computer cooperation lifting operation load distribution strategy, science, the effectively actual lifting operation of guidance.Research and develop a set of collaborative hoisting simulation system based on virtual reality on the other hand, by the three-dimensional artificial of collaborative lifting operation process, the formulation of auxiliary lifting operation scheme, also has great meaning to reduction double computer cooperation lifting risk.

Summary of the invention

Technical matters to be solved by this invention is, not enough for prior art, provides a kind of double-crane work compound load distribution method, calculate the distribution of load in dual stage truck-mounted crane hoisting process, formulate lifting operation scheme, instruct actual lifting, reduce double computer cooperation lifting risk.

For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of double-crane work compound load distribution method, and the method is:

1) three-dimensional scenic modeling: multi-model crane data are provided, set up heavy-duty machine model bank with the form of model data file;

2) crane type selecting: user selects to meet the main crane of lifting requirements and auxiliary crane according to operating mode from crane model bank;

3) crane configuration: the magnification ratio, the counterweight that require configuration two telescopic crane booms according to the lifting operation of load capacity, lifting altitude;

4) double-crane collaborative lifting action calculates: application inverse kinematics principle, and according to the desired motion of equipment, namely two-shipper hoists, two-shipper overturns, two-shipper rotates, and determines the concerted action sequence of two cranes;

5) double-crane is worked in coordination with Hoisting Parameters and is calculated: calculate that two cranes hoist at two-shipper according to Principles of Statics, two-shipper upset, load when two-shipper rotates;

6) setting lifting impact point, realizes lifting simulated operation by keyboard operation, judges the lifting impact point whether lifting object reaches set; If so, 7 are entered); If not, 4 are returned);

7) hoisting process is terminated.

Preferably, described step 1) in, three-dimensional scenic modeling is divided into two kinds: 1) OpenGL provides rectangular parallelepiped, cylinder, circular cone, annulus, ball five kinds of basic bodies of drafting; 2) model except rectangular parallelepiped, cylinder, circular cone, annulus, ball five kinds of basic bodies, by Pro/E analogue formation file.Preferably, described step 4) in, the concerted action sequence computation process of two cranes is as follows:

1) state that two-shipper hoists comprises synchronous ascending and asynchronously to hoist:

Synchronous ascending state change as shown in the formula:

$\left\{\begin{array}{c}{h}_i={h_i}^{\&prime;}+\mathrm{\&Delta;}h\\ h_0={h_0}^{\&prime;}+\mathrm{\&Delta;}h\end{array}\right.$

Asynchronous hoist state change as shown in the formula:

$\left\{\begin{array}{c}{h}_1={h_1}^{\&prime;}+\mathrm{\&Delta;}{h}_1\\ {\mathrm{\&beta;}}_0=\arccos \frac{{\mathrm{\&Delta;h}}_1-{\mathrm{\&Delta;h}}_2}{d}\\ {\mathrm{\&beta;}}_2=arccos\frac{\sqrt{d^2-{({\mathrm{\&Delta;h}}_1-{\mathrm{\&Delta;h}}_2)}^2}+L_2{\mathrm{cos\&beta;}}_2^{\&prime;}}{L_2}\\ h_2={h_1}^{\&prime;}+{\mathrm{\&Delta;h}}_2\end{array}\right.,$

Wherein, h _i, i=1,2, h ₁for lifting rear main crane lifting rope length, h ₂for lifting rear auxiliary crane lifting rope length, Δ h ₁be main lifting height of crane variable quantity, Δ h ₂be auxiliary lifting height of crane variable quantity, and Δ h ₁> Δ h ₂, β ₀for lifting the angle of rear lifting object around the axis of vertical lifting plane, d is the axial line distance of main crane and auxiliary crane two lifting points, β ₂for lifting the elevation angle of rear auxiliary crane, h _i', i=1,2, h ₁' be main crane lifting rope length before lifting, β ' ₂for lifting the elevation angle of front auxiliary crane, L ₂for lifting rear auxiliary crane arm support length, Δ h is the variable quantity of lifting object lifting height, h ₀for lifting the liftoff height of rear lifting object, h ₀' for lifting the liftoff height of front lifting object;

2) two-shipper upset state change as shown in the formula:

$\left\{\begin{array}{c}{h}_1={h_1}^{\&prime;}+\mathrm{\&Delta;}h\\ {\mathrm{\&beta;}}_0=\mathrm{\&beta;}\\ {\mathrm{\&beta;}}_2=arccos\frac{L_2{\mathrm{cos\&beta;}}_2^{\&prime;}+d\cos \mathrm{\&beta;}}{L_2}\\ h_2={h_1}^{\&prime;}-(L_2{\mathrm{sin\&beta;}}_2^{\&prime;}-L_2{\mathrm{sin\&beta;}}_2)\end{array}\right.,$

Wherein, h ₂' be auxiliary crane lifting rope length before lifting, Δ h is the variable quantity of lifting object lifting height, and β is the angle that lifting object with respect to the horizontal plane promotes;

3) two-shipper rotate state change as shown in the formula:

After rotation alpha, the coordinate of auxiliary crane suspension centre is shown below:

$\left\{\begin{array}{c}\mathrm{\&theta;}=\arctan \frac{{X_{d2}}^{\&prime;}-X_{d1}}{Z_{d2}^{\&prime;}-Z_{d1}}\\ X_{d2}=X_{d1}+d*\cos (\mathrm{\&alpha;}+\mathrm{\&theta;})\\ Z_{d2}=Z_{d1}+d*\sin (\mathrm{\&alpha;}+\mathrm{\&theta;})\end{array}\right.,$

Then now the state of dual systems changes shown in following formula:

$\left\{\begin{array}{c}{\mathrm{\&alpha;}}_1={{\mathrm{\&alpha;}}_0}^{\&prime;}+\mathrm{\&alpha;}\\ {\mathrm{\&beta;}}_2=\arccos \frac{\sqrt{{(X_{d2}-X_{c2})}^2+{(Z_{d2}-Z_{c2})}^2}}{L_2}\\ {\mathrm{\&alpha;}}_2={{\mathrm{\&alpha;}}_2}^{\&prime;}+\frac{(X_{c2}-X_{d2})*(X_{c2}-{X_{d2}}^{\&prime;})+(Z_{c2}-Z_{d2})*(Z_{c2}-{Z_{d2}}^{\&prime;})}{\sqrt{{(X_{c2}-X_{d2})}^2+{(Z_{c2}-Z_{d2})}^2}*\sqrt{{(X_{c2}-{X_{d2}}^{\&prime;})}^2+{(Z_{c2}-{Z_{d2}}^{\&prime;})}^2}}\\ h_2={h_1}^{\&prime;}+L_2*({\mathrm{sin\&beta;}}_2-{\mathrm{sin\&beta;}}_2^{\&prime;})\end{array}\right.,$

Wherein, θ is the angle of main crane suspension centre axis and X-axis, α ₀for lifting the angle of rear lifting object around vertical direction, α ' ₀for lifting the angle of front lifting object around vertical direction, α is the angle that after lifting, lifting object rotates around the suspension centre axis of main crane, P (X _d1, Y _d1, Z _d1) represent the position coordinates lifting rear main crane suspension centre, Q ' (X _d2', Y _d2', Z _d2') represent the coordinate lifting front auxiliary crane suspension centre, Q (X _d2, Y _d2, Z _d2) represent the coordinate lifting rear auxiliary crane suspension centre, O (X _c2, Y _c2, Z _c2) represent the centre of gyration coordinate lifting rear auxiliary crane, α ₂for lifting the angle of revolution of rear auxiliary crane, α ' ₂for lifting the angle of revolution of front auxiliary crane.

Preferably, described step 5) in, load when two cranes hoist at two-shipper, two-shipper upset, two-shipper rotate is respectively:

1) tensile force f of main crane when two-shipper hoists _awith the tensile force f of auxiliary crane _bbe respectively:

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}+\frac{hG}{d}tan\mathrm{\&gamma;}=(\frac{1}{2}+\frac{h\mathrm{\&Delta;}H}{d^2})G\\ F_B=\frac{G}{2}-\frac{hG}{d}tan\mathrm{\&gamma;}=(\frac{1}{2}-\frac{h\mathrm{\&Delta;}H}{d^2})G\end{array}\right.,$

Wherein, G is lifting object weight, and Δ H is the difference in height of the suspension centre caused because major-minor crane is asynchronous, and γ is the hoist asynchronous lifting object that causes and lifting object mass axis drift angle, and h is the distances of two lifting eye of crane axis apart from lifting object mass axis;

2) tensile force f of main crane when two-shipper overturns _awith the tensile force f of auxiliary crane _bbe respectively:

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}+\frac{hG}{d}tan\mathrm{\&lambda;}\\ F_B=\frac{G}{2}-\frac{hG}{d}\tan \mathrm{\&lambda;}\end{array}\right.;$

Wherein λ is the angle of lifting object upset;

3) tensile force f of main crane when two-shipper rotates _awith the tensile force f of auxiliary crane _bbe respectively:

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}\\ F_B=\frac{G}{2}\end{array}\right..$

Compared with prior art, the beneficial effect that the present invention has is: the present invention, by calculating the distribution of load in dual stage truck-mounted crane hoisting process, formulates lifting operation scheme, instructs actual lifting, reduces the risk of double computer cooperation lifting.

Accompanying drawing explanation

Fig. 1 is one embodiment of the invention method flow diagram;

Fig. 2 is one embodiment of the invention crane type selecting process flow diagram;

Fig. 3 is one embodiment of the invention crane configuration flow figure;

Fig. 4 is one embodiment of the invention two-shipper synchronous ascending action calculation diagram;

Fig. 5 is the asynchronous action calculation diagram that hoists of one embodiment of the invention two-shipper;

Fig. 6 is one embodiment of the invention two-shipper rotary movement calculation diagram;

Fig. 7 is one embodiment of the invention two-shipper spinning movement calculation diagram;

Fig. 8 is that one embodiment of the invention two-shipper hoists asynchronous schematic diagram;

Fig. 9 is that one embodiment of the invention two-shipper overturns auxiliary crane unhook schematic diagram.

Embodiment

As shown in Figure 1, one embodiment of the invention method step is as follows:

Step 1: three-dimensional scenic modeling;

Step 2: crane type selecting;

Step 3: crane configures;

Step 4: double-crane collaborative lifting action calculates;

Step 5: double-crane is worked in coordination with Hoisting Parameters and calculated;

Step 6: reach lifting impact point;

Step 7: lifting terminates.

In step 1, three-dimensional scenic modeling can be divided into two parts: 1) OpenGL provides the basic body of drafting; 2) pattern of intricate external shape, need be imported by third party software analogue formation file.

Part I comprises rectangular parallelepiped, cylinder, circular cone, annulus, ball five kinds of basic bodies, and we only need provide corresponding parameters input interface and interactive means, and analogue system just can call this model buildings scene.

Part II is mainly through d solid modeling, and d solid modeling software popular at present mainly contains Pro/E, 3D Studio MAX, Open Inventor etc.Pro/E software is widely used in the drafting of three-dimensional scenic, and the three-dimensional feeling of immersion of institute's model of painting is strong, and model is true to nature, and supports the several data forms such as .igs .asm, is easy to exploitation.Native system is by Pro/E modeling, and by Data Format Transform instrument extraction model data, the graphic plotting function reading model data utilizing OpenGL to provide in three-dimensional scenic realize the importing of complex scene.

Crane model belongs to such complex model, is the key model of analogue system.In order to ensure that analogue system is drawn function and can be redrawn three-dimensional model preferably, native system is extracted the complete model data of crane, comprises crane plane numeral index, summit, normal, material and material and quotes five kinds of information.Each plane numeral index data are made up of 9 integers, 3 is three the summit numberings forming this plane above, middle 3 is the normal numbering on each summit, after 3 be texture coordinate, just can realize the drafting of crane model by traveling through plane numeral index.Vertex data is the three-dimensional coordinate of each point under the local coordinate system of model object.The normal coordinate of each point of normal data record, normal coordinate characterizes the amount that summit receives light.Material quality data characterizes the material feature of plane, comprises diffused light parameter, reflected light parameter etc.

This collaborative simulation system provides multi-model crane data, sets up heavy-duty machine model bank (Part II) with the form of model data file.Allow user to upgrade and service crane model bank with the form of the file of specification simultaneously.After hoisting simulation starts, the crane type that system is chosen according to user, reads machine type data and calls OpenGL API instrument and draw crane model, carry out crane modeling.

In step 2, crane type selecting is the important integral link of whole lifting flow process, particularly double computer cooperation lifting.Main and auxiliary crane according to the suitable combination of existing crane Unit-type sclection, more effectively, more safely can complete lifting task.Crane type selecting algorithm in this paper mainly comprises user's input information module, checking calculation and check, result output, as shown in Figure 2.

The lifting key point information of user's input comprises the key point in lifting start point information, lifting endpoint information and hoisting process.Lifting object information, comprises the weight of lifting object, size etc.The lifting pattern intending taking is the lifting pattern that user intends in conjunction with operating environment assessment according to lifting operation target taking afterwards.User's input is the constraint condition that should observe of crane type selecting process.

The core that module is this algorithm is checked in checking, determines the suitable type selecting of major-minor crane according to the information of user's input.The amplitude that hoists and highly check mainly estimate maximum hoisting height and lifting amplitude according to the information of user's input, and then judge that whether satisfied the lifting of crane arm support length and the elevation angle be on-the-spot and lift mission requirements.Lifting capacity checks the main lifting pattern intending taking according to user, in conjunction with the information of lifting object key point, whether lifting requirements is met by the elevating capacity of these key points of lifting model validation under correspondence, general provision the elevating capacity of crane can not must be greater than total hanging device and lifting annex comprises rigging, suspension hook, pulley blocks etc. (will leave load surplus, be traditionally arranged to be 1.25 times).The general type selecting first determining main crane, then combine according to the type of main crane and further check the type that auxiliary crane is determined in checking computations, only has to meet all cranes of checking checking computations completely and be only and meet lifting requirements.

Suitable main and auxiliary crane combination is obtained and applicable user lifting arranges the condition range of environment after type selecting.

In step 3, user, according to lifting requirements, import selected crane type, and analogue system is loaded into the operating mode table data of this type automatically.Have recorded a large amount of history floor datas of this crane, the performance of reaction crane in operating mode table.In order to realize the parameter configuration of crane, on the one hand, user can require the parameters such as configuration crane arm support, supporting leg span, counterweight according to the lifting operation such as load capacity, lifting altitude; On the other hand, when considering hoisting simulation, crane rated load is by obtaining in operating mode table, and crane therefore should not be allowed to be configured according to other operating modes of operating mode off-balancesheet.

Analogue system, by scanning crane operating mode table, selects configurable crane parameter according to existing crane dynamic state of parameters.Crane configuration flow figure as shown in Figure 3.

First according to the scene type operating mode table be loaded into, scan the crane operating mode of this type, define a kind of data structure and preserve complete crane operating mode.Every bar operating mode should comprise the scaling of each joint telescopic arm, multiplying power, counterweight and supporting leg span.First user configures jib operating mode, configures jib parameter one by one, according to the jib parameter arranged, upgrades next and saves configurable jib operating mode, and preserves the jib operating mode collection configured.According to this operating mode collection, configure the parameter such as crane counterweight, multiplying power one by one, finally complete the configuration of all parameters.Due to the relevance of every data, when user will revise existing crane configuration parameter, the parameter zero setting again that should will arrange, and parameter reconfiguration returns the configuration of amendment crane.

In step 4, when the action of double computer cooperation hoisting simulation calculates, application inverse kinematics principle, determines the concerted action sequence of two cranes according to the desired motion of equipment (collaboratively to hoist, overturn, turn round).

In order to describe the action sequence of collaborative hoisting process crane, hanging device better, define a tuple P (X _ci, Y _ci, Z _ci, α _i, β _i, h _i, L _i, X ₀, Y ₀, Z ₀, α ₀, β ₀, h ₀) (i=1,2) represent the cooperative system state of hoisting process, wherein, (X _ci, Y _ci, Z _ci) represent the centre of gyration coordinate of main and auxiliary crane.(α _i, β _i, L _i, h _i) represent the state of main and auxiliary crane, α _ifor lifting the angle of revolution of rear crane, β _ifor lifting the elevation angle of rear crane, L _ifor lifting rear crane arm support length, h _ifor lifting rear main crane lifting rope length.i＝1,2。(X ₀, Y ₀, Z ₀) represent the barycentric coordinates of lifting object.(α ₀, β ₀, h ₀) for lifting the state of rear lifting object, wherein α ₀for lifting the angle of rear lifting object around vertical direction, β ₀for lifting the angle of rear lifting object around the axis of vertical lifting plane, h ₀for lifting the liftoff height of rear lifting object.

Work in coordination with lifting pattern for difference, according to the change of each quantity of state of desired motion component analysis cooperative system of equipment, and go to drive main and auxiliary crane and hanging device according to these variable quantities.Suppose Q'(X _ci', Y _ci', Z _ci', α _i', β _i', h _i', L' _i, X ₀', Y ₀', Z ₀', α ₀', β ₀', h ₀') (i=1,2) represent the state of system before lifting, Q (X _ci, Y _ci,z _ci, α _i, β _i, h _i, L _i, X ₀, Y ₀, Z ₀, α ₀, β ₀, h ₀) (i=1,2) represent the state of system after lifting.

1) two-shipper hoists

During synchronous ascending, the variable quantity of lifting object lifting height, is assumed to be Δ h, then the lifting rope variable quantity of main and auxiliary crane is also Δ h, and the active variable lifting the process that hoists is also Δ h, and other variable remains unchanged, as shown in Figure 4.

Then the now state change of dual systems is as shown in formula (1).

$\left\{\begin{array}{c}{h}_i={h_i}^{\&prime;}+\mathrm{\&Delta;}h\\ h_0={h_0}^{\&prime;}+\mathrm{\&Delta;}h\end{array}\right.---\left(1\right)$

Asynchronous when hoisting, suppose that main lifting height of crane variable quantity is Δ h ₁, auxiliary lifting height of crane variable quantity is Δ h ₂, suppose Δ h ₁> Δ h ₂.Now in order to ensure that main and auxiliary lifting rope is in vertical state all the time, auxiliary crane often will carry out luffing action.Owing to supposing that the axial line distance of main crane and auxiliary crane two suspension centres is d, as shown in Figure 5.

Then the now state change of dual systems is as shown in formula (2).

$\left\{\begin{array}{c}{h}_1={h_1}^{\&prime;}+\mathrm{\&Delta;}{h}_1\\ {\mathrm{\&beta;}}_0=\arccos \frac{{\mathrm{\&Delta;h}}_1-{\mathrm{\&Delta;h}}_2}{d}\\ {\mathrm{\&beta;}}_2=arccos\frac{\sqrt{d^2-{({\mathrm{\&Delta;h}}_1-{\mathrm{\&Delta;h}}_2)}^2}+L_2{\mathrm{cos\&beta;}}_2^{\&prime;}}{L_2}\\ h_2={h_1}^{\&prime;}+{\mathrm{\&Delta;h}}_2\end{array}\right.---\left(2\right)$

2) two-shipper upset

During two-shipper upset, main crane rope closing operation, coordinate the close to main crane of auxiliary crane, hanging device is made to produce rollover effect, now the angle that promotes along the horizontal plane of the variable quantity of lifting object lifting height and lifting object, is assumed to be Δ h, β respectively, set the axial line distance of main and auxiliary crane two suspension centre as d, the state of main crane is (α simultaneously ₁, β ₁, L ₁, h ₁), as shown in Figure 6.

Then the now state change of dual systems is as shown in formula (3):

$\left\{\begin{array}{c}{h}_1={h_1}^{\&prime;}+\mathrm{\&Delta;}h\\ {\mathrm{\&beta;}}_0=\mathrm{\&beta;}\\ {\mathrm{\&beta;}}_2=arccos\frac{L_2{\mathrm{cos\&beta;}}_2^{\&prime;}+d\cos \mathrm{\&beta;}}{L_2}\\ h_2={h_1}^{\&prime;}-(L_2{\mathrm{sin\&beta;}}_2^{\&prime;}-L_2{\mathrm{sin\&beta;}}_2)\end{array}\right.---\left(3\right)$

3) two-shipper rotates

Analogue system, it is that the suspension centre axis that hypothesis hanging device walks around main crane rotates an angle that two-shipper rotates, and to lift the angle that rear lifting object rotates around the suspension centre axis of main crane, is assumed to be α, as shown in Figure 7.

Introduce some P (X _d1, Y _d1, Z _d1) represent the position coordinates lifting rear main crane suspension centre, Q ' (X _d2', Y _d2', Z _d2'), Q (X _d2, Y _d2, Z _d2) represent the coordinate lifting the auxiliary crane suspension centre in front and back respectively, the axial line distance simultaneously supposing main and auxiliary crane two suspension centre is d, suppose that the angle of main crane suspension centre axis and X-axis is θ, first hoisted by collaborative, after hanging device is promoted a segment distance, now can according to the distance variograph of original state and lifting calculate P, Q ' coordinate, then auxiliary crane by rotating, luffing and lancet operation realize whole rotary course.

After rotation alpha, the coordinate of auxiliary crane suspension centre is such as formula shown in (4).

$\left\{\begin{array}{c}\mathrm{\&theta;}=\arctan \frac{{X_{d2}}^{\&prime;}-X_{d1}}{Z_{d2}^{\&prime;}-Z_{d1}}\\ X_{d2}=X_{d1}+d*\cos (\mathrm{\&alpha;}+\mathrm{\&theta;})\\ Z_{d2}=Z_{d1}+d*\sin (\mathrm{\&alpha;}+\mathrm{\&theta;})\end{array}\right.---\left(4\right)$

Then the now state change of dual systems is as shown in formula (5).

$\left\{\begin{array}{c}{\mathrm{\&alpha;}}_1={{\mathrm{\&alpha;}}_0}^{\&prime;}+\mathrm{\&alpha;}\\ {\mathrm{\&beta;}}_2=\arccos \frac{\sqrt{{(X_{d2}-X_{c2})}^2+{(Z_{d2}-Z_{c2})}^2}}{L_2}\\ {\mathrm{\&alpha;}}_2={{\mathrm{\&alpha;}}_2}^{\&prime;}+\frac{(X_{c2}-X_{d2})*(X_{c2}-{X_{d2}}^{\&prime;})+(Z_{c2}-Z_{d2})*(Z_{c2}-{Z_{d2}}^{\&prime;})}{\sqrt{{(X_{c2}-X_{d2})}^2+{(Z_{c2}-Z_{d2})}^2}*\sqrt{{(X_{c2}-{X_{d2}}^{\&prime;})}^2+{(Z_{c2}-{Z_{d2}}^{\&prime;})}^2}}\\ h_2={h_1}^{\&prime;}+L_2*({\mathrm{sin\&beta;}}_2-{\mathrm{sin\&beta;}}_2^{\&prime;})\end{array}\right.---\left(5\right)$

In steps of 5, the parameter that double-crane works in coordination with lifting is calculated.When using double-crane to work in coordination with lifting, the gravity of hanging device is born by two cranes.Collaborative hoisting process, main and auxiliary crane and hanging device orientation constantly change, and the load that main and auxiliary crane is born also constantly changes.Consider that hoisting process speed is comparatively slow, engineering calculates load when lifting load often takes Principles of Statics calculation stability position, then be multiplied by a dynamic load factor k ₁(generally getting 1.1-1.2).

(1) two-shipper hoists

When main and auxiliary crane and hanging device in place after, equipment installs fixing main and auxiliary hanger, and connects main and auxiliary crane hoisting pulley blocks and hanger by rope.Hanger determines the load of original state two cranes to the distance of equipment mass axis.This document assumes that main and auxiliary hanger is equal to the distance of central apparatus mass axis, time namely initially, the load of main and auxiliary crane is the half of hanging device.Collaborative hoist when starting, by the rope closing of pulley blocks, realize hoisting of lifting object.After each pulley blocks respectively shrinks certain length, hanging device is in equilibrium state, and only by gravity and rope pulling force, according to statics balance principle, is obtained the load of now double-crane by the balance of wind tunnel.

When the length that two pulley blockss hoist is consistent, due to equipment and rope relative position constant, therefore the load of main and auxiliary crane does not change, and namely the load of main and auxiliary crane is the half of hanging device.

When the length that two pulley blockss hoist is inconsistent, equipment creates certain angle, as shown in Figure 8.

If the pulling force of major-minor crane is F _a, F _b, the weight of lifting object is G, and the distance of two lifting eye of crane axis distance lifting object mass axis is h, and the distance of the axis of main and auxiliary crane two suspension centres is d, the flip angle β of main crane.

Then have according to Principles of Statics

$\left\{\begin{array}{c}{F}_A+F_B=G\\ F_A(\frac{d}{2}-\mathrm{\&Delta;}L)\cos \mathrm{\&gamma;}=F_B(\frac{d}{2}-\mathrm{\&Delta;}L)\cos \mathrm{\&gamma;}\end{array}\right.---\left(6\right)$

Due to

$\left\{\begin{array}{c}h=\frac{d}{2}ctg\mathrm{\&theta;}\\ \mathrm{\&Delta;}L=htan\mathrm{\&gamma;}\end{array}\right.---\left(7\right)$

Formula (7) is brought into (6), and considers that γ is general less, get then

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}+\frac{hG}{d}tan\mathrm{\&gamma;}=(\frac{1}{2}+\frac{h\mathrm{\&Delta;}H}{d^2})G\\ F_B=\frac{G}{2}-\frac{hG}{d}tan\mathrm{\&gamma;}=(\frac{1}{2}-\frac{h\mathrm{\&Delta;}H}{d^2})G\end{array}\right.---\left(8\right)$

γ is the hoist asynchronous lifting object that causes and lifting object mass axis drift angle.

(2) two-shipper upset

Double computer cooperation upset operation can be divided into two stages, when just starting, main crane carries out lancet operation, all the time vertical direction is in order to ensure main and auxiliary rope, auxiliary crane carries out luffing and lancet operation, and when hanging device is turned to certain angle from horizontality gradually, auxiliary crane breaks off relations, main crane is by other operations by hanging device hoisted in position, and now main crane will bear separately the weight of whole equipment.

Begin turning the stage, similar when the Load Analysis of crane and two-shipper hoist asynchronous, if the pulling force of major-minor crane is respectively F _a, F _b, the weight of lifting object is G, and the distance of two lifting eye of crane axis distance lifting object mass axis is h, and main and auxiliary two lifting points are d in the distance of axis, and lifting object flip angle is λ, then

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}+\frac{hG}{d}tan\mathrm{\&lambda;}\\ F_B=\frac{G}{2}-\frac{hG}{d}\tan \mathrm{\&lambda;}\end{array}\right.---\left(9\right)$

When main crane flip angle λ is close to θ (object for upset lifting is all longer, and general θ is greater than 85 degree), auxiliary crane starts to break off relations, as shown in Figure 9.Now hanging device is only by two power effects: the tensile force f of lifting object weight G and main crane _a.Equipment swings around main suspension centre and can be considered physics single pendulum, easily tries to achieve according to energy conservation, and after unhook, when equipment swings to minimum point, the pulling force of main crane rope is

F _A＝(3-2sinλ)G (10)

(3) two-shipper rotates

Suppose that main and auxiliary suspension centre is equal to the distance of central apparatus mass axis, namely during incipient stability, the load of main and auxiliary crane is the half of hanging device.When hanging device is raised to after certain altitude through having worked in coordination with, now, auxiliary crane rotation, realizes the effect of hanging device around main lifting owner lifting-point rotating, and auxiliary crane is equipped with luffing and rises hook operation simultaneously, and hanging device is remained on a surface level.If after have rotated α, according to statics balance principle, obtained the load of now double-crane by the balance of wind tunnel.Two pulling force sums are gravity; Object balance, two ropes are all the vertical moment equal and opposite in directions to hoisting object center of gravity, because the operating distance of power is equal, so two power are equal, are the half of hanging device weight.The pulling force of major-minor crane is respectively F _a, F _b, namely

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}\\ F_B=\frac{G}{2}\end{array}\right.---\left(11\right)$

In two crane work compound processes, each crane load along with suspension centre speed and operation orientation change and change, certain crane load may increase suddenly, easily the security incidents such as disconnected arm occurs when rated load weight under load exceedes now operating mode.Therefore, the essence of load distribution be exactly in requirement hoisting process each crane be within safe lifting scope, namely specified crane is greater than respective real-time load, and is in and lifts load factor preferably.First by the influence factor of analyzing influence rated load weight, the relational model of rated load weight is set up; Secondly by analyzing work compound process, in conjunction with Dynamics of Cranes characteristic, the real-time load model of the research each crane of work compound process, improves the security of hoisting process.

Embody rule

1) task introduction is lifted

Lifting case is that common petrochemical complex tank body is installed.This tank body is installed case and is required that red tank body is lifted into after white tank body, and vertically overturns, and makes red tank body upright.Known is 25 meters by cage body length, and radius is 2 meters, weighs 25 tons.

2) hoisting simulation process

User lifts scene according to reality, and the detail parameters of input lifting object, comprises lifting object title, color attribute, size and weight attribute, Geometric center coordinates attribute.User is according to other object informations in lifting environment scene set.In scene, the design parameter of object is as shown in table 1.

Table 1 object scene information

According to the crane type storehouse that the lifting object information inputted and system provide, user inputs the lifting operation pattern that Hoisting Parameters information and plan are taked further.Crane type selecting, consider above lifting constraint, the rough check before lifting in conjunction with operating mode query function, completes the type selecting of crane.The type that two same models are chosen in this emulation carries out lifting test, on lifting amplitude, hoisting height and lifting performance, all can meet the demands.The main crane coordinate arranged in scene is (-30.0,0.0,0.0), and the supporting leg of main crane is for entirely to stretch, and five joint telescopic arm magnification ratios of crane are 46%, and counterweight is 56 tons, and lifting multiplying power is set to 2.Auxiliary crane coordinate is (30.0,0.0,0.0), and the supporting leg of auxiliary crane is for entirely to stretch, and five joint telescopic arm magnification ratios of crane are 46%, and counterweight is 100 tons, and lifting multiplying power is set to 2.User can according to actual lifting operation environment, and the configuration of amendment crane, builds scene.

User carries out hoisting simulation simulation according to the lifting scene of putting up.

Complete scene when starting, arrange the coordinate of main and auxiliary crane two hanger for (-10.4,5,0), (10.4,5,0), and the main and auxiliary crane of simulation process does not carry out stretching hook operation, brachium keeps 40.4 meters.Hoist in process, work in coordination with and hoisted 5 meters; Then auxiliary crane rotates 37 degree around main crane suspension centre axis; Then main crane rotates 37 degree around auxiliary crane suspension centre axis, and now hanging device is parallel with X-axis; Through hanging device switching process; Then the situation of lifting object upset 45 degree; Auxiliary crane breaks off relations.Be finally by main crane action, hanging device is stable to be stood upright on (-12,12.5 ,-12), and lifting completes.The key parameter of the main crane of simulation process is as shown in table 2, and key parameter such as the table 3 of auxiliary crane shows.

The main crane state parameter of table 2 hoisting process

The auxiliary crane state parameter of table 3 hoisting process

After lifting analog simulation terminates, user can export Hoisting Program, comprises project profile editor and scheme information.Hoisting Program saves the commencement date of hoisting engineering, unit in charge of construction, personnel depaly, the relevant information such as lifting scenario parameters and hoisting process crane erect-position figure, hoisting process pattern, process key parameter automatically.User according to actual needs, can utilize the sectional drawing function of system manually to add hoisting process pattern, improves Hoisting Program, and be finally used to guide actual lifting operation simultaneously.

Above-mentioned emulation case shows that this hoisting simulation system can not only support that double computer cooperation lifts, and system emulate from scene modeling to hoisting process again to scheme export operating process with reality lifting operation conform to.Native system provides multiple model data, and the automobile crane machine data that user can import other carries out hoisting simulation.In above-mentioned lifting case, use high accurate calculagraph test to carry out operation response speed in a program, the average response time that result shows each action is about 596ms, can the needs of meeting requirements on three-dimensional real-time emulation system.In addition, native system also provides multiple subsidiary function and interaction design.Simulation process can switch different visual angles to be observed simulation process, make user comprehensive, observe hoisting simulation process with multi-angle.Analogue system additionally provides sectional drawing function, and user can need to obtain simulation process pattern according to reality lifting.Analogue system additionally provides automatic hold function, to more complicated, builds the scene that required time is longer, and system was preserved automatically every one minute.

Claims (4)

1. a double-crane work compound load distribution method, is characterized in that, the method is:

1) three-dimensional scenic modeling: multi-model crane data are provided, set up heavy-duty machine model bank with the form of model data file;

2) crane type selecting: user selects to meet the main crane of lifting requirements and auxiliary crane according to operating mode from crane model bank;

3) crane configuration: the magnification ratio, the counterweight that require configuration two telescopic crane booms according to the lifting operation of load capacity, lifting altitude;

4) double-crane collaborative lifting action calculates: application inverse kinematics principle, and according to the desired motion of equipment, namely two-shipper hoists, two-shipper overturns, two-shipper rotates, and determines the concerted action sequence of two cranes;

5) double-crane is worked in coordination with Hoisting Parameters and is calculated: calculate that two cranes hoist at two-shipper according to Principles of Statics, two-shipper upset, load when two-shipper rotates;

6) setting lifting impact point, realizes lifting simulated operation by keyboard operation, judges the lifting impact point whether lifting object reaches set; If so, 7 are entered); If not, 4 are returned);

7) hoisting process is terminated.

2. double-crane work compound load distribution method according to claim 1, it is characterized in that, described step 1) in, three-dimensional scenic modeling is divided into two kinds: 1) OpenGL provides rectangular parallelepiped, cylinder, circular cone, annulus, ball five kinds of basic bodies of drafting; 2) model except rectangular parallelepiped, cylinder, circular cone, annulus, ball five kinds of basic bodies, by Pro/E analogue formation file.

3. double-crane work compound load distribution method according to claim 1, is characterized in that, described step 4) in, the concerted action sequence computation process of two cranes is as follows:

1) state that two-shipper hoists comprises synchronous ascending and asynchronously to hoist:

Synchronous ascending state change as shown in the formula:

$\left\{\begin{array}{c}{h}_i={h_i}^{\&prime;}+\mathrm{\&Delta;}h\\ h_0={h_0}^{\&prime;}+\mathrm{\&Delta;}h\end{array}\right.$

Asynchronous hoist state change as shown in the formula:

$\left\{\begin{array}{c}{h}_1={h_1}^{\&prime;}+{\mathrm{\&Delta;h}}_1\\ {\mathrm{\&beta;}}_0=\arccos \frac{{\mathrm{\&Delta;h}}_1-{\mathrm{\&Delta;h}}_2}{d}\\ {\mathrm{\&beta;}}_0=\arccos \frac{\sqrt{d^2-{({\mathrm{\&Delta;h}}_1-{\mathrm{\&Delta;h}}_2)}^2}+L_2{\mathrm{cos\&beta;}}_2^{\&prime;}}{L_2}\\ h_2={h_1}^{\&prime;}+{\mathrm{\&Delta;h}}_2\end{array}\right.,$

Wherein, h _i, i=1,2, h ₁for lifting rear main crane lifting rope length, h ₂for lifting rear auxiliary crane lifting rope length, Δ h ₁be main lifting height of crane variable quantity, Δ h ₂be auxiliary lifting height of crane variable quantity, and Δ h ₁> Δ h ₂, β ₀for lifting the angle of rear lifting object around the axis of vertical lifting plane, d is the axial line distance of main crane and auxiliary crane two lifting points, β ₂for lifting the elevation angle of rear auxiliary crane, h _i', i=1,2, h ₁' be main crane lifting rope length before lifting, β ' ₂for lifting the elevation angle of front auxiliary crane, L ₂for lifting rear auxiliary crane arm support length, Δ h is the variable quantity of lifting object lifting height, h ₀for lifting the liftoff height of rear lifting object, h ₀' for lifting the liftoff height of front lifting object;

2) two-shipper upset state change as shown in the formula:

$\left\{\begin{array}{c}{h}_1={h_1}^{\&prime;}+\mathrm{\&Delta;}h\\ {\mathrm{\&beta;}}_0=\mathrm{\&beta;}\\ {\mathrm{\&beta;}}_2=\arccos \frac{L_2{\mathrm{cos\&beta;}}_2^{\&prime;}+d\cos \mathrm{\&beta;}}{L_2}\\ h_2=h_2^{\&prime;}-(L_2{\mathrm{sin\&beta;}}_2^{\&prime;}-L_2{\mathrm{sin\&beta;}}_2)\end{array}\right.,$

Wherein, h ₂' be auxiliary crane lifting rope length before lifting, Δ h is the variable quantity of lifting object lifting height, and β is the flip angle of main crane;

3) two-shipper rotate state change as shown in the formula:

After rotation alpha, the coordinate of auxiliary crane suspension centre is shown below:

$\left\{\begin{array}{c}\mathrm{\&theta;}=\arctan \frac{{X_{d2}}^{\&prime;}-X_{d1}}{{Z_{d2}}^{\&prime;}-Z_{d1}}\\ X_{d2}=X_{d1}+d*\cos (\mathrm{\&alpha;}+\mathrm{\&theta;})\\ Z_{d2}=Z_{d1}+d*\sin (\mathrm{\&alpha;}+\mathrm{\&theta;})\end{array}\right.,$

Then now the state of dual systems changes shown in following formula:

$\left\{\begin{array}{c}{\mathrm{\&alpha;}}_0={{\mathrm{\&alpha;}}_0}^{\&prime;}+\mathrm{\&alpha;}\\ {\mathrm{\&beta;}}_2=\arccos \frac{\sqrt{{(X_{d2}-X_{c2})}^2+{(Z_{d2}-Z_{c2})}^2}}{L^2}\\ {\mathrm{\&alpha;}}_2={{\mathrm{\&alpha;}}_2}^{\&prime;}+\frac{(X_{c2}-X_{d2})*(X_{c2}-{X_{d2}}^{\&prime;})+(Z_{c2}-Z_{d2})*(Z_{c2}-{Z_{d2}}^{\&prime;})}{\sqrt{{(X_{c2}-X_{d2})}^2+{(Z_{c2}-Z_{d2})}^2}*\sqrt{{(X_{c2}-{X_{d2}}^{\&prime;})}^2+{(Z_{c2}-{Z_{d2}}^{\&prime;})}^2}}\\ h_2={h_2}^{\&prime;}+L_2*({\mathrm{sin\&beta;}}_2-{\mathrm{sin\&beta;}}_2^{\&prime;})\end{array}\right.,$

Wherein, θ is the angle of main crane suspension centre axis and X-axis, α ₀for lifting the angle of rear lifting object around vertical direction, α ' ₀for lifting the angle of front lifting object around vertical direction, α is the angle that after lifting, lifting object rotates around the suspension centre axis of main crane, P (X _d1, Y _d1, Z _d1) represent the position coordinates lifting rear main crane suspension centre, Q'(X _d2', Y _d2', Z _d2') represent the coordinate lifting front auxiliary crane suspension centre, Q (X _d2, Y _d2, Z _d2) represent the coordinate lifting rear auxiliary crane suspension centre, O (X _c2, Y _c2, Z _c2) represent the centre of gyration coordinate lifting rear auxiliary crane, α ₂for lifting the angle of revolution of rear auxiliary crane, α ' ₂for lifting the angle of revolution of front auxiliary crane.

4. double-crane work compound load distribution method according to claim 1, is characterized in that, described step 5) in, load when two cranes hoist at two-shipper, two-shipper upset, two-shipper rotate is respectively:

1) tensile force f of main crane when two-shipper hoists _awith the tensile force f of auxiliary crane _bbe respectively:

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}+\frac{hG}{d}tan\mathrm{\&gamma;}=(\frac{1}{2}+\frac{h\mathrm{\&Delta;}H}{d^2})G\\ F_B=\frac{G}{2}-\frac{hG}{d}tan\mathrm{\&gamma;}=(\frac{1}{2}-\frac{h\mathrm{\&Delta;}H}{d^2})G\end{array}\right.,$

Wherein, G is lifting object weight, and Δ H is the difference in height of the suspension centre caused because major-minor crane is asynchronous, and γ hoists the asynchronous lifting object caused relative to lifting object mass axis drift angle, and h is the distances of two lifting eye of crane axis apart from lifting object mass axis;

2) tensile force f of main crane when two-shipper overturns _awith the tensile force f of auxiliary crane _bbe respectively:

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}+\frac{hG}{d}tan\mathrm{\&lambda;}\\ F_B=\frac{G}{2}-\frac{hG}{d}\tan \mathrm{\&lambda;}\end{array}\right.;$

Wherein λ is the angle of lifting object upset;

3) tensile force f of main crane when two-shipper rotates _awith the tensile force f of auxiliary crane _bbe respectively:

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}\\ F_B=\frac{G}{2}\end{array}\right..$