CN104495617A - Stability-regulating operating system and stability-regulating method for crane grab - Google Patents
Stability-regulating operating system and stability-regulating method for crane grab Download PDFInfo
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- CN104495617A CN104495617A CN201410786371.7A CN201410786371A CN104495617A CN 104495617 A CN104495617 A CN 104495617A CN 201410786371 A CN201410786371 A CN 201410786371A CN 104495617 A CN104495617 A CN 104495617A
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- Prior art keywords
- grab bucket
- steady
- arm
- tune
- signal
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/12—Grabs actuated by two or more ropes
- B66C3/125—Devices for control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/14—Grabs opened or closed by driving motors thereon
- B66C3/18—Grabs opened or closed by driving motors thereon by electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/20—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs mounted on, or guided by, jibs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Aiming to the technical difficulty that a grab of an existing tower crane always shakes in a working process, the invention discloses a stability-regulating operating system for a crane grab. The stability-regulating operating system comprises a detection device, a signal receiving, transmitting and processing device and a stability-regulating device, wherein the detection device is arranged on a crane, and is in charge of detecting an action parameter and an environment parameter of the crane; the signal receiving, transmitting and processing device is used for generating a control signal according to received detection data, and transmitting the control signal to the stability-regulating device. The invention further provides a control method which is used for performing dynamic regulation with respect to different operating environments and working states to ensure that the crane always runs in a state that a working environment is safe. The stability-regulating operating system has the beneficial technical effects that the stability-regulating process of the grab can be relatively stable and accurate; meanwhile, real-time monitoring and feedback control are realized in the whole stability-regulating process, and the stability, reliability and safety of the grab on the aspect of controlling balance are improved.
Description
Technical field
The present invention relates to and belongs to crane facility field, particularly relates to the auxiliary control of the grab bucket of tower crane, is specifically related to the steady operating system of a kind of tune for crane grab and adjusts steady method.
Background technology
Hoisting crane is mainly used in the occasions such as building, harbour, workshop, building site, in recent years along with manufacturing fast development, significant load and day by day complicated lifting environment, make people have higher requirement to the safety of crane hoisting equipment, stability, reliability.And tower crane is aerial lift device, itself is higher, and area coverage is large, arm is long, and the occasion work of the bad environments such as harbour of being everlasting, add that operating personal and installation personnel are usually in aloft work, so its safety, stability requirement are very high.
The grab bucket of present tower crane is hung with a steel rope, because its working space is higher, captures material ratio heavier, be easy to be subject to windage when working at harbour, causes grab bucket ceaselessly to be rocked in operational process.And the grab bucket of present tower crane is stablized by grab bucket stabiliser.Grab bucket stabiliser just separately adds a rope in grab bucket, and rope is orbited by the counterweight on arm, pulls grab bucket, to regulate the balance of grab bucket, is random control in motion process, can not regulate the balance of grab bucket according to actual condition.And grab bucket in the course of the work rock the impact being not only subject to arm and rotating, be also subject to the impact of wind speed, wind direction, the stressing conditions of grab bucket, in continuous change, is also ceaselessly rocking simultaneously.To the load-carrying capacity of rope, the stability of arm all has great impact.Affect crawl material, the stationarity of handling material process and the safety of entire machine.
Summary of the invention
For the technical barrier that the grab bucket of existing tower crane is rocked in the course of the work all the time, and by means of only the grab bucket stabiliser of counter weight type, the problem adjusting steady weak effect is carried out to grab bucket, the present invention proposes a kind ofly be applicable to the steady operating system of a kind of tune for crane grab of the occasion that the working spaces such as harbour are comparatively large, comparatively large by wind effect, environment is more severe and adjust steady method, the present invention has automation, intelligentized technical characterstic, can improve stability and the safety of grab bucket operation process.The present invention is specific as follows:
The steady operating system of tune for crane grab, the steady operating system of described tune the hoisting crane that is suitable for comprise base 1, rotating disk 2, gantry body 9, arm 7, first roller 6, hoisting crane rope 10 and grab bucket 13; Wherein, base 1 is fixed on ground, is provided with rotating disk 2 at the top of base 1, is provided with gantry body 9 at the top of rotating disk 2, and the bottom of arm 7 is flexibly connected with gantry body 9, and the top of arm 7 is provided with the first roller 6; One end of hoisting crane rope 10 and the rope motors of hoisting crane connect, and one end of hoisting crane rope 10 is walked around the first roller 6 and is connected with grab bucket 13 afterwards; Gantry body 9 is relative to rotating disk 2 rotating in the horizontal direction, and arm 7 relatively gantry body 9 vertically lifts or falls, and grab bucket 13 is sling or put down by hoisting crane rope 10 under the rotation of rope motor;
The steady operating system of tune of the present invention is made up of detecting device, signal transmitting and receiving and processing equipment, tune stabilization device three part;
Described detecting device is arranged on hoisting crane, is responsible for the action parameter and the environmental parameters that detect hoisting crane, and the above-mentioned action parameter detected and environmental parameters are fed back to signal transmitting and receiving and processing equipment in the lump as detection data;
This control signal according to the detection data genaration control signal received, and is passed to the execution of tune stabilization device by described signal transmitting and receiving and processing equipment;
Described tune stabilization device comprises guide assembly and motorized adjustment assembly; Wherein, guide assembly comprises a guide rail 808; Guide assembly is arranged on the arm of hoisting crane; Motorized adjustment assembly comprises one and adjusts steady rope 803 and a steady electrical motor 809 of tune; Motorized adjustment component activity is connected on the guide rail 808 of guide assembly, and by adjusting steady rope 803 grab bucket of motorized adjustment assembly and hoisting crane to be linked together; Under the driving of the control signal adjusting steady electrical motor 809 to send at signal transmitting and receiving and processing equipment, driving electric adjusting part moves along guide rail 808 towards gantry body 9 side or towards grab bucket 13 side; When grab bucket 13 swings outwardly, when motorized adjustment assembly moves towards gantry body 9 side, and by the tune steady rope 803 in motorized adjustment assembly, grab bucket 13 is strained towards heavy-duty machine body 9 side, grab bucket 13 is inwardly drawn; Otherwise, when grab bucket 13 swings inwardly, when motorized adjustment assembly moves towards grab bucket 13 side, reduce to adjust steady rope 803 to the tractive force of grab bucket 13, impel grab bucket 13 outwards to put;
Namely by adjusting stabilization device, one and grab bucket 13 real-time swaying direction opposite effect power are applied to grab bucket 13 all the time.
Adopt the steady operating system of tune of the present invention to carry out the steady method of tune of crane grab, carry out as follows:
Step 1, detecting device, signal transmitting and receiving and processing equipment, the initialization of tune stabilization device:
The power supply of open detection device, signal transmitting and receiving and processing equipment, tune stabilization device; The communication of setting up between three connects; The length value L of arm 7 is manually inputted to signal transmitting and receiving and processing equipment;
Step 2, obtain the real-time action parameter of hoisting crane and environmental parameters by detecting device, and be passed to signal transmitting and receiving and processing equipment; Wherein, the environmental parameters of hoisting crane comprises the speed of wind and the information in direction, the action parameter of hoisting crane comprise the real-time position information of grab bucket 13, the arm 7 pivot angle information in vertical surface, the corner information of arm 7 in horizontal surface, grab bucket 13 by force information;
Step 3, by signal transmitting and receiving and processing equipment with gantry body 9 for the origin of coordinates sets up OXYZ system of axes; By signal transmitting and receiving and processing equipment, action parameter real-time for the hoisting crane received and environmental parameters are converted under OXYZ system of axes: the air speed value V around grab bucket 13, grab bucket the stress value F of 13, the pivot angle value α of arm 7, the corner value β of arm 7 and the real-time coordinates (X of grab bucket 13
d, Y
d, Z
d);
Step 4, carried out the judgement of hoisting crane working environment whether safety according to the air speed value V around the stress value F of grab bucket 13 and grab bucket 13 by signal transmitting and receiving and processing equipment:
As stress value F > 0 kilogram (Kg) and air speed value V >=20 meter per second (m/s), signal transmitting and receiving and processing equipment are reported to the police, and alert closes heavy-duty machine, stops operation;
As stress value F≤0 kilogram (Kg) and air speed value V >=55 meter per second (m/s), signal transmitting and receiving and processing equipment are reported to the police, and alert closes heavy-duty machine, stops operation;
As stress value F > 0 kilogram (Kg) and air speed value V < 20 meter per second (m/s) or when stress value F≤20 kilogram (Kg) and air speed value V < 55 meter per second (m/s), enter next step;
Step 5, calculated the coordinate figure X of the X-direction of arm 7 end near the first roller 6 side according to the length value L of the pivot angle value α of arm 7, the corner value β of arm 7 and arm 7 by signal transmitting and receiving and processing equipment
a=L × Cos α × Cos β, referred to as the X axis coordinate figure X of arm
a:
Step 6, compared the X axis coordinate figure X of arm 7 by signal transmitting and receiving and processing equipment
awith the real-time X axis coordinate figure X of grab bucket 13
dsize compare:
If the X axis coordinate figure X of arm 7
abe not equal to the real-time X axis coordinate figure X of grab bucket 13
d, then grab bucket 13 is in unstable position, assigns operating instruction by signal transmitting and receiving and processing equipment to tune stabilization device;
If the X axis coordinate figure X of arm 7
aequal the real-time X axis coordinate figure X of grab bucket 13
d, then grab bucket 13 is in stable position, sends instruction out of service by signal transmitting and receiving and processing equipment to tune stabilization device;
Step 7, complete handling when grab bucket 13, close detecting device, signal transmitting and receiving and processing equipment and tune stabilization device, close heavy-duty machine, end operation.
useful technique effect
The steady operating system of tune for crane grab of the present invention and adjust steady method to propose for the unstable oscillation of grab bucket in operational process, original grab bucket stabiliser is changed into pinion and rack and middle guide assembly of the present invention and motorized adjustment assembly with the use of, and driving it to move by motor in motorized adjustment assembly, the stochastic control of the stabiliser that makes originally to grab bucket changes automatic control of the present invention into.Rack and pinion drive mechanism reliability in the present invention is high, working process is steady, can make the steady process of the tune of grab bucket more steadily, accurately, and Real-Time Monitoring and controlled reset is achieved in the steady process of the whole tune of the present invention, improve grab bucket and control the stability in balance, reliability and safety.In observation process, use wind speed wind direction sensor, monitoring wind speed that can be real-time, make crane grab better can adapt to the change of surrounding environment.
Detecting device of the present invention uses angular-motion transducer, pressure sensor, displacement pickup and wind speed wind direction sensor, position can be realized, the real-time monitoring of wind speed and direction, and by wireless transmitter, the signal collected is sent on programmable controller PLC by signal conditioning circuit and analog to digital conversion circuit, the mouth of PLC is connected with industrial computer interface, because grab bucket is different with the restriction of at full load to wind speed in zero load, when grab bucket is unloaded or at full load exceedes the maximum wind speed required by hoisting crane at wind speed, alerting signal is sent by warning device, operating personal is after hearing alerting signal, hoisting crane is quit work.When wind speed allows, controlled the motor operation of grabbing bucket in Tiao Wen mechanism by industrial computer, thus the position of adjustment grab bucket, make its work stable, safe as far as possible, improve the safety in working process to a great extent.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the steady operating system of tune of the present invention.
Fig. 2 is the structured flowchart of detecting device and signal transmitting and receiving and processing equipment.
Fig. 3 is the birds-eye view adjusting stabilization device.
Fig. 4 is the A-A cutaway view of Fig. 3.
Fig. 5 is the schematic perspective view at the B place of Fig. 3.
The steady method flow diagram of Fig. 6 tune for crane grab of the present invention.
The operating diagram of the steady operating system of Fig. 7 tune of the present invention.
Sequence number in figure is: base 1, rotating disk 2, first angular-motion transducer 3, second angular-motion transducer 4, second controls wireless base station apparatus 5, first roller 6, arm 7, gantry body 9, hoisting crane rope 10, wind speed wind direction sensor 11, position transduser 12, grab bucket 13, strain-gauge 14, first controls wireless base station apparatus 15, tooth bar 801, axle 802, adjust steady rope 803, second roller 804, gear 805, first baffle plate 806, guide rail platform 807, guide rail 808, adjust steady electrical motor 809, electric machine support 810, second baffle 811, coupler 812, back-up ring 813, channel-section steel 814, steel plate 815, tooth bar adapter plate 817, first controls radio receiver 901, second controls radio receiver 902, signal conditioning circuit 903, analog to digital conversion circuit 904, warning device 905, programmable logic controller (PLC) PLC906, industrial computer 907.
Detailed description of the invention
Below in conjunction with accompanying drawing, enforcement of the present invention is described further:
The steady operating system of tune for crane grab, its hoisting crane that is suitable for comprise base 1, rotating disk 2, gantry body 9, arm 7, first roller 6, hoisting crane rope 10 and grab bucket 13; Wherein, base 1 is fixed on ground, is provided with rotating disk 2 at the top of base 1, is provided with gantry body 9 at the top of rotating disk 2, and the bottom of arm 7 is flexibly connected with gantry body 9, and the top of arm 7 is provided with the first roller 6; One end of hoisting crane rope 10 and the rope motors of hoisting crane connect, and one end of hoisting crane rope 10 is walked around the first roller 6 and is connected with grab bucket 13 afterwards; Gantry body 9 is relative to rotating disk 2 rotating in the horizontal direction, and arm 7 relatively gantry body 9 vertically lifts or falls, and grab bucket 13 is sling or put down by hoisting crane rope 10 under the rotation of rope motor, as shown in Figure 7.
See Fig. 1, the steady operating system of the tune for crane grab, is made up of detecting device, signal transmitting and receiving and processing equipment, tune stabilization device three part;
Described detecting device is arranged on hoisting crane, is responsible for the action parameter and the environmental parameters that detect hoisting crane, and the above-mentioned action parameter detected and environmental parameters are fed back to signal transmitting and receiving and processing equipment in the lump as detection data;
This control signal according to the detection data genaration control signal received, and is passed to the execution of tune stabilization device by described signal transmitting and receiving and processing equipment;
See Fig. 3, described tune stabilization device comprises guide assembly and motorized adjustment assembly; Wherein, guide assembly comprises a guide rail 808; Guide assembly is arranged on the arm of hoisting crane; Motorized adjustment assembly comprises one and adjusts steady rope 803 and a steady electrical motor 809 of tune; Motorized adjustment component activity is connected on the guide rail 808 of guide assembly, and by adjusting steady rope 803 grab bucket of motorized adjustment assembly and hoisting crane to be linked together; Under the driving of the control signal adjusting steady electrical motor 809 to send at signal transmitting and receiving and processing equipment, driving electric adjusting part moves along guide rail 808 towards gantry body 9 side or towards grab bucket 13 side; When grab bucket 13 swings outwardly, motorized adjustment assembly moves towards gantry body 9 side, and grab bucket 13 is strained towards heavy-duty machine body 9 side by the tune steady rope 803 in motorized adjustment assembly, inwardly draws by grab bucket 13; Otherwise, when grab bucket 13 swings inwardly, when motorized adjustment assembly moves towards grab bucket 13 side, reduce to adjust steady rope 803 to the traction of grab bucket 13, impel grab bucket 13 outwards to put, refer to Fig. 7;
Namely by adjusting stabilization device, one and grab bucket 13 real-time swaying direction opposite effect power are applied to grab bucket 13 all the time.
See Fig. 2, detecting device comprises wind speed wind direction sensor 11, position transduser 12, the first angular-motion transducer 3, second angular-motion transducer 4 and strain-gauge 14; Wherein,
Wind speed wind direction sensor 11 is arranged on the hoisting crane rope 10 of grab bucket 13 sides, for detecting and feeding back speed and the direction of wind;
Position transduser 12 is arranged on the top of grab bucket 13, for measuring and feeding back the real time position of grab bucket 13;
First angular-motion transducer 3 and the second angular-motion transducer 4 are installed on the arm 7 of rotating disk 2 side, first angular-motion transducer 3 is for measuring and feeding back the pivot angle of arm 7 in vertical surface, and the second angular-motion transducer 4 is for measuring and feeding back the corner of arm 7 in horizontal surface;
Strain-gauge 14 is distributed in grab bucket 13, detects and feeds back the force-bearing situation of grab bucket 13;
The speed of wind and the information in direction are the environmental parameters of hoisting crane, grab bucket 13 real-time position information, the pivot angle information of arm 7 in vertical surface, the corner information of arm 7 in horizontal surface, grab bucket 13 be the action parameter of hoisting crane by force information.
See Fig. 2, signal transmitting and receiving and processing equipment comprise the first control wireless base station apparatus 15, second and control wireless base station apparatus 5 and Signal reception and processing unit;
Wherein, first controls wireless base station apparatus 15 is arranged on the top of grab bucket 13, and the first signal input part controlling wireless base station apparatus 15 is connected with the signal output part of wind speed wind direction sensor 11, the signal output part of position transduser 12, the signal output part of strain-gauge 14 respectively;
Second controls wireless base station apparatus 5 is arranged on the arm 7 of rotating disk 2 side, and the second signal input part controlling wireless base station apparatus 5 is connected with the signal output part of the first angular-motion transducer 3, the signal output part of the second angular-motion transducer 4 respectively;
First controls wireless base station apparatus 15, second controls wireless base station apparatus 5 respectively with Signal reception and processing unit wireless connections and communication.
See Fig. 2, described Signal reception and processing unit control radio receiver 901, second by first and control radio receiver 902, signal conditioning circuit 903, analog to digital conversion circuit 904, warning device 905, programmable logic controller (PLC) PLC906 and industrial computer 907 and form;
First controls the signal output part of radio receiver 901, the signal output part of the second control radio receiver 902 is connected with the signal input part of signal conditioning circuit 903 respectively; The signal output part of signal conditioning circuit 903 is connected through the signal input part of analog to digital conversion circuit 904 with programmable logic controller (PLC) PLC906; The signal output part of programmable logic controller (PLC) PLC906 is connected with the signal input part of warning device 905, the signal input part of industrial computer 907 respectively; The signal output part of industrial computer 907 is connected with tune stabilization device;
Wherein, first controls radio receiver 901 controls wireless base station apparatus 15 wireless connections with first and communicates, and second controls radio receiver 902 controls wireless base station apparatus 5 wireless connections with second and communicates;
Signal conditioning circuit 903 is responsible for that the signal that the first control radio receiver 901 and the second control radio receiver 902 receive is carried out conditioning and is amplified and export to next stage;
Analog to digital conversion circuit 904 is responsible for the analog signal of amplifying conditioning through signal conditioning circuit 903 to be converted to digital signal;
Programmable logic controller (PLC) PLC906 is responsible for the signal after analog to digital conversion circuit 904 analogue to digital conversion to carry out concrete estimation & disposing, and produces control command;
Warning device 905 sends alerting signal under the control of programmable logic controller (PLC) PLC906, and prompting chaufeur, after hearing alerting signal, is cut off the electricity supply, hoisting crane is quit work;
Industrial computer 907 drives to adjust in stabilization device by the control command that programmable logic controller (PLC) PLC906 produces adjusts steady electrical motor 809 to run, meanwhile, the programmed instruction that programmable logic controller (PLC) PLC906 performs in real time and the operative condition adjusting steady electrical motor 809 is shown by industrial computer 907 read-out.
See Fig. 3, described guide assembly also comprises tooth bar 801, first baffle plate 806, guide rail platform 807, second baffle 811, channel-section steel 814, steel plate 815 and tooth bar adapter plate 817; Wherein, guide rail platform 807 is fixedly connected on the bottom of guide rail 808; A side of guide rail platform 807 length direction is connected with channel-section steel 814; The bottom of the channel-section steel 814 be connected by guide rail platform 807 by the steel plate 815 of strip is connected with the base of another channel-section steel 814, and the cross section of fabricate block that namely 2 channel-section steels 814 and steel plate 815 are formed takes the shape of the letter U; The tooth bar adapter plate 817 of a strip is jointly connected with in the inner side of 2 channel-section steels 814; By screw 816, tooth bar 801 is fixed on the end face of tooth bar adapter plate 817; The rectangular blocks that described guide rail platform 807, channel-section steel 814, steel plate 815 and tooth bar adapter plate 817 are all isometric with guide rail 808; The length of guide rail 808 is not less than 1/2 of arm 7 length; Be provided with the first baffle plate 806 in the end of the guide rail 808 towards gantry body 9 side, be provided with second baffle 811 in the end at the guide rail 808 towards grab bucket 13 side; Described steel plate 815 and arm 7 weld together, refer to Fig. 4.
See Fig. 4, described motorized adjustment assembly also comprises axle 802, second roller 804, gear 805, electric machine support 810, coupler 812, back-up ring 813 form; Described electric machine support 810 is movably connected on guide rail platform 807, and can move along the length direction of guide rail 808; Be provided with at the top of electric machine support 810 and adjust steady electrical motor 809; The side of the turning cylinder of the steady electrical motor of described tune 809 and the length direction of guide rail platform 807 is perpendicular, and points to channel-section steel 814 side; Be fixedly connected with adjusting the turning cylinder of steady electrical motor 809 with one end of axle 802 by coupler 812; Back-up ring 813 is fixed on axle 802, for moving axially of fixed gear wheel 805 by interference fit); The end face of back-up ring 813 opposite side is connected with axial one end of gear 805, and (back-up ring 813 is fixed on axle 802 by interference fit, and described back-up ring 813 moves axially for fixing/limiting gear 805; The toothed edge of described gear 805 is engaged mutually with the striped of tooth bar 801; By the mode of interference fit, the second roller 804 is arranged on the axle 802 outside gear 805); One end of the steady rope 803 of described tune is fixedly connected in the radial sidewalls of the second roller 804, adjusts the other end of steady rope 803 to be connected with grab bucket 13, as shown in Figure 5.
Furtherly, when the control command adjusting steady electrical motor 809 to press signal transmitting and receiving and processing equipment rotates forward, driven gear 805 rotates forward in the same way, between the toothed edge and tooth bar 801 of gear 805 under antagonistic force, is moved by motorized adjustment assembly along guide rail 808 towards the first roller 6 side; Meanwhile, be coiled in the radial sidewalls of the second roller 804 with the second roller 804 adjusting steady electrical motor 809 together to rotate forward by adjusting steady rope 803, by the reversing sense lift that the grab bucket 13 towards gantry body 9 one side oscillation is moved to it, stop and offset to gantry body 9 side with the grab bucket 13 of adjusting steady rope 803 to be connected;
Furtherly, when adjusting steady electrical motor 809 to press the control command reversion of signal transmitting and receiving and processing equipment, driven gear 805 reverses in the same way, between the toothed edge and tooth bar 801 of gear 805 under antagonistic force, is moved by motorized adjustment assembly along guide rail 808 towards gantry body 9 side; Meanwhile, with the second roller 804 adjusting steady electrical motor 809 together to reverse, the steady rope 803 of tune be coiled in the second roller 804 radial sidewalls is unclamped, by grab bucket 13 towards the lift of gantry body 9 side, stop and outwards swing with the grab bucket 13 of adjusting steady rope 803 to be connected;
Namely by the movement of motorized adjustment assembly on guide assembly, the steady rope 803 of tune be wrapped in the second roller 804 radial sidewalls is taken up or unclamps, and then give grab bucket 13 application force, finally make grab bucket 13 vertical ground all the time in the motion process lifting or put down of arm 7.
See Fig. 4, the bottom of described electric machine support 810 is provided with the groove matched with guide rail 808; The recess sidewall of electric machine support 810 is provided with anti-down projection; The sidewall of guide rail 808 is provided with corresponding anti-down groove.
See Fig. 6, adopt the steady operating system of tune of the present invention to carry out the steady method of tune of crane grab, specifically carry out as follows:
Step 1, detecting device, signal transmitting and receiving and processing equipment, the initialization of tune stabilization device:
The power supply of open detection device, signal transmitting and receiving and processing equipment, tune stabilization device; The communication of setting up between three connects; The length value L of arm 7 is manually inputted to signal transmitting and receiving and processing equipment;
Step 2, obtain the real-time action parameter of hoisting crane and environmental parameters by detecting device, and be passed to signal transmitting and receiving and processing equipment; Wherein, the environmental parameters of hoisting crane comprises the speed of wind and the information in direction, the action parameter of hoisting crane comprise the real-time position information of grab bucket 13, the arm 7 pivot angle information in vertical surface, the corner information of arm 7 in horizontal surface, grab bucket 13 by force information;
Step 3, by signal transmitting and receiving and processing equipment with gantry body 9 for the origin of coordinates sets up OXYZ system of axes; By signal transmitting and receiving and processing equipment, action parameter real-time for the hoisting crane received and environmental parameters are converted under OXYZ system of axes: the air speed value V around grab bucket 13, grab bucket the stress value F of 13, the pivot angle value α of arm 7, the corner value β of arm 7 and the real-time coordinates (X of grab bucket 13
d, Y
d, Z
d);
The preferred version setting up OXYZ system of axes is: with the point of connection of arm 7 and gantry body 9 for initial point O, with direction during arm 7 level for X axis, during with arm 7 vertically, direction is for Z-axis direction, with through center of circle O and simultaneously vertical X axis to the rectilinear direction with Z-axis direction for Y-axis;
Step 4, carried out the judgement of hoisting crane working environment whether safety according to the air speed value V around the stress value F of grab bucket 13 and grab bucket 13 by signal transmitting and receiving and processing equipment:
As stress value F > 0 kilogram (Kg) and air speed value V >=20 meter per second (m/s), signal transmitting and receiving and processing equipment are reported to the police, and alert closes heavy-duty machine, stops operation;
As stress value F≤0 kilogram (Kg) and air speed value V >=55 meter per second (m/s), signal transmitting and receiving and processing equipment are reported to the police, and alert closes heavy-duty machine, stops operation;
As stress value F > 0 kilogram (Kg) and air speed value V < 20 meter per second (m/s) or when stress value F≤20 kilogram (Kg) and air speed value V < 55 meter per second (m/s), enter next step;
Step 5, calculated the coordinate figure X of the X-direction of arm 7 end near the first roller 6 side according to the length value L of the pivot angle value α of arm 7, the corner value β of arm 7 and arm 7 by signal transmitting and receiving and processing equipment
a=L × Cos α × Cos β, referred to as the X axis coordinate figure X of arm
a:
Step 6, compared the X axis coordinate figure X of arm 7 by signal transmitting and receiving and processing equipment
awith the real-time X axis coordinate figure X of grab bucket 13
dsize compare:
If the X axis coordinate figure X of arm 7
abe not equal to the real-time X axis coordinate figure X of grab bucket 13
d, then grab bucket 13 is in unstable position, assigns operating instruction by signal transmitting and receiving and processing equipment to tune stabilization device;
If the X axis coordinate figure X of arm 7
aequal the real-time X axis coordinate figure X of grab bucket 13
d, then grab bucket 13 is in stable position, sends instruction out of service by signal transmitting and receiving and processing equipment to tune stabilization device;
Step 7, complete handling when grab bucket 13, close detecting device, signal transmitting and receiving and processing equipment and tune stabilization device, close heavy-duty machine, end operation.
Furtherly, if the X axis coordinate figure X of arm 7
athe real-time X axis coordinate figure X of < grab bucket 13
dthen send the control command of reversion by signal transmitting and receiving and processing equipment to tune stabilization device, the contrarotation of steady electrical motor 809 driven gear 805 is adjusted in order, and between the toothed edge and tooth bar 801 of gear 805 under antagonistic force, motorized adjustment assembly is moved towards gantry body 9 side; Meanwhile, the steady rope 803 of tune be coiled in the second roller 804 radial sidewalls unclamps with the second roller 804 adjusting steady electrical motor 809 together to reverse by order, by grab bucket 13 towards the lift of gantry body 9 side, stop and outwards swing with the grab bucket 13 of adjusting steady rope 803 to be connected;
If the X axis coordinate figure X of arm 7
athe real-time X axis coordinate figure X of > grab bucket 13
dthen send the control command of rotating forward by signal transmitting and receiving and processing equipment to tune stabilization device, order adjusts steady electrical motor 809 driven gear 805 positive to rotate, and between the toothed edge and tooth bar 801 of gear 805 under antagonistic force, motorized adjustment assembly is moved towards the first roller 6 side; Meanwhile, order is coiled in the radial sidewalls of the second roller 804 with the second roller 804 adjusting steady electrical motor 809 together to rotate forward by adjusting steady rope 803, by the reversing sense lift that the grab bucket 13 towards gantry body 9 one side oscillation is moved to it, stop with the grab bucket 13 of adjusting steady rope 803 to be connected to gantry body 9 one lateral movement.
Claims (9)
1. for the steady operating system of tune of crane grab, this adjust steady operating system the hoisting crane that is suitable for comprise base (1), rotating disk (2), gantry body (9), arm (7), the first roller (6), hoisting crane rope (10) and grab bucket (13); Wherein, base (1) is fixed on ground, is provided with rotating disk (2) at the top of base (1), is provided with gantry body (9) at the top of rotating disk (2), the bottom of arm (7) is flexibly connected with gantry body (9), and the top of arm (7) is provided with the first roller (6); One end of hoisting crane rope (10) and the rope motors of hoisting crane connect, and one end of hoisting crane rope (10) is walked around the first roller (6) and is connected with grab bucket (13) afterwards; Gantry body (9) is relative to rotating disk (2) rotating in the horizontal direction, and arm (7) relatively gantry body (9) vertically lifts or falls, hoisting crane rope (10) will grab bucket under the rotation of rope motor (13) sling or put down; It is characterized in that: be made up of detecting device, signal transmitting and receiving and processing equipment, tune stabilization device three part;
Described detecting device is arranged on hoisting crane, is responsible for the action parameter and the environmental parameters that detect hoisting crane, and the above-mentioned action parameter detected and environmental parameters are fed back to signal transmitting and receiving and processing equipment in the lump as detection data;
This control signal according to the detection data genaration control signal received, and is passed to the execution of tune stabilization device by described signal transmitting and receiving and processing equipment;
Described tune stabilization device comprises guide assembly and motorized adjustment assembly; Wherein, guide assembly comprises a guide rail (808); Guide assembly is arranged on the arm of hoisting crane; Motorized adjustment assembly comprises one and adjusts steady rope (803) and the steady electrical motor of a tune (809); Motorized adjustment component activity is connected on the guide rail (808) of guide assembly, and by adjusting steady rope (803) grab bucket of motorized adjustment assembly and hoisting crane to be linked together; Under the driving of the control signal adjusting steady electrical motor (809) to send at signal transmitting and receiving and processing equipment, driving electric adjusting part moves along guide rail (808) towards gantry body (9) side or towards grab bucket (13) side; When grab bucket (13) swing outwardly, motorized adjustment assembly moves towards gantry body (9) side, and will grab bucket (13) towards the tension of heavy-duty machine body (9) side by the steady rope of tune (803) in motorized adjustment assembly, is about to grab bucket (13) and inwardly draws; Otherwise, when grab bucket (13) swing inwardly, when motorized adjustment assembly moves towards grab bucket (13) side, reduce the traction of adjusting steady rope (803) to grab bucket (13), impel grab bucket (13) outwards to put; Namely by adjusting stabilization device, one and grab bucket (13) swaying direction opposite effect power is in real time applied to grab bucket (13) all the time.
2. as claimed in claim 1 for the steady operating system of tune of crane grab, it is characterized in that: detecting device comprises wind speed wind direction sensor (11), position transduser (12), the first angular-motion transducer (3), the second angular-motion transducer (4) and strain-gauge (14); Wherein, wind speed wind direction sensor (11) is arranged on the hoisting crane rope (10) of grab bucket (13) side, for detecting and feeding back speed and the direction of wind; Position transduser (12) is arranged on the top of grab bucket (13), for measuring and feeding back the real time position of grab bucket (13); First angular-motion transducer (3) and the second angular-motion transducer (4) are installed on the arm (7) of rotating disk (2) side, first angular-motion transducer (3) is for measuring and feeding back arm (7) pivot angle in vertical surface, and the second angular-motion transducer (4) is for measuring and feeding back arm (7) corner in horizontal surface; Strain-gauge (14) is distributed in grab bucket (13), detects and feeds back the force-bearing situation of grab bucket (13); The speed of wind and the information in direction are the environmental parameters of hoisting crane, the grab bucket real-time position information of (13), the pivot angle information of arm (7) in vertical surface, arm (7) corner information in horizontal surface, grab bucket (13) be the action parameter of hoisting crane by force information.
3. as claimed in claim 1 for the steady operating system of tune of crane grab, it is characterized in that: signal transmitting and receiving and processing equipment comprise the first control wireless base station apparatus (15), the second control wireless base station apparatus (5) and Signal reception and processing unit;
Wherein, first controls wireless base station apparatus (15) is arranged on the top of grab bucket (13), and the signal input part of the first control wireless base station apparatus (15) is connected with the signal output part of wind speed wind direction sensor (11), the signal output part of position transduser (12), the signal output part of strain-gauge (14) respectively;
Second controls wireless base station apparatus (5) is arranged on the arm (7) of rotating disk (2) side, and the second signal input part controlling wireless base station apparatus (5) is connected with the signal output part of the first angular-motion transducer (3), the signal output part of the second angular-motion transducer (4) respectively;
First controls wireless base station apparatus (15), second controls wireless base station apparatus (5) respectively with Signal reception and processing unit wireless connections and communication.
4., as claimed in claim 3 for the steady operating system of tune of crane grab, it is characterized in that:
Described Signal reception and processing unit control radio receiver (901), second by first and control radio receiver (902), signal conditioning circuit (903), analog to digital conversion circuit (904), warning device (905), programmable logic controller (PLC) PLC(906) and industrial computer (907) form;
First controls the signal output part of radio receiver (901), the signal output part of the second control radio receiver (902) is connected with the signal input part of signal conditioning circuit (903) respectively; The signal output part of signal conditioning circuit (903) is through analog to digital conversion circuit (904) and programmable logic controller (PLC) PLC(906) signal input part be connected; Programmable logic controller (PLC) PLC(906) signal output part be connected with the signal input part of warning device (905), the signal input part of industrial computer (907) respectively; The signal output part of industrial computer (907) is connected with tune stabilization device; Wherein, first controls radio receiver (901) controls wireless base station apparatus (15) wireless connections with first and communicates, and second controls radio receiver (902) controls wireless base station apparatus (5) wireless connections with second and communicates; Signal conditioning circuit (903) is responsible for that the signal that the first control radio receiver (P01) and the second control radio receiver (P02) receive is carried out conditioning and is amplified and export to next stage;
Analog to digital conversion circuit (904) is responsible for the analog signal of amplifying conditioning through signal conditioning circuit (903) to be converted to digital signal;
Programmable logic controller (PLC) PLC(906) be responsible for the signal after analog to digital conversion circuit (904) analogue to digital conversion to carry out concrete estimation & disposing, and produce control command; Warning device (905) is at programmable logic controller (PLC) PLC(906) control under send alerting signal, prompting chaufeur after hearing alerting signal, cut off the electricity supply, hoisting crane quit work; Industrial computer (907) is by programmable logic controller (PLC) PLC(906) control command that produces drives to adjust in stabilization device and adjusts steady electrical motor (809) to run, meanwhile, programmable logic controller (PLC) PLC(906 is shown by industrial computer (907) read-out) programmed instruction that performs in real time and the operative condition adjusting steady electrical motor (809).
5., as claimed in claim 1 for the steady operating system of tune of crane grab, it is characterized in that:
Described guide assembly also comprises tooth bar (801), the first baffle plate (806), guide rail platform (807), second baffle (811), channel-section steel (814), steel plate (815) and tooth bar adapter plate (817); Wherein, guide rail platform (807) is fixedly connected on the bottom of guide rail (808); A side of guide rail platform (807) length direction is connected with channel-section steel (814); The bottom of the channel-section steel (814) be connected by guide rail platform (807) by the steel plate (815) of strip is connected with the base of another channel-section steel (814), and the cross section of fabricate block that namely 2 channel-section steels (814) and steel plate (815) are formed takes the shape of the letter U; The tooth bar adapter plate (817) of a strip is jointly connected with in the inner side of 2 channel-section steels (814); By screw (816), tooth bar (801) is fixed on the end face of tooth bar adapter plate (817); The rectangular blocks that described guide rail platform (807), channel-section steel (814), steel plate (815) and tooth bar adapter plate (817) are all isometric with guide rail (808); The length of guide rail (808) is not less than 1/2 of arm (7) length; Be provided with the first baffle plate (806) in the end of the guide rail (808) towards gantry body (9) side, be provided with second baffle (811) in the end at the guide rail (808) towards grab bucket (13) side; Described steel plate (815) and arm (7) weld together;
Described motorized adjustment assembly also comprises axle (802), the second roller (804), gear (805), electric machine support (810), coupler (812), back-up ring (813) composition; Described electric machine support (810) is movably connected on guide rail platform (807), and can move along the length direction of guide rail (808); Be provided with at the top of electric machine support (810) and adjust steady electrical motor (809); The side of the turning cylinder of the steady electrical motor of described tune (809) and the length direction of guide rail platform (807) is perpendicular, and points to channel-section steel (814) side; By coupler (812), the one end of adjusting the turning cylinder of steady electrical motor (809) with axle (802) is fixedly connected with; By interference fit, back-up ring (813) is arranged on axle (802), described back-up ring (813) moving axially for limiting gear (805); The toothed edge of described gear (805) is engaged mutually with the striped of tooth bar (801); By the mode of interference fit, the second roller (804) is fixed on the axle (802) in gear (805) outside; One end of the steady rope of described tune (803) is fixedly connected in the radial sidewalls of the second roller (804), adjusts the other end of steady rope (803) to be connected with grab bucket (13).
6., as claimed in claim 5 for the steady operating system of tune of crane grab, it is characterized in that:
When the control command adjusting steady electrical motor (809) by signal transmitting and receiving and processing equipment rotates forward, driven gear (805) rotates forward in the same way, between the toothed edge and tooth bar (801) of gear (805) under antagonistic force, motorized adjustment assembly is moved along guide rail (808) towards the first roller (6) side; Meanwhile, steady rope (803) will be adjusted to be coiled in the radial sidewalls of the second roller (804) with the second roller (804) adjusting steady electrical motor (809) together to rotate forward, towards the reversing sense lift that the grab bucket (13) of gantry body (9) side oscillation is moved to it, will stop and offset to gantry body (9) side with the grab bucket (13) of adjusting steady rope (803) to be connected;
When the control command reversion of adjusting steady electrical motor (809) by signal transmitting and receiving and processing equipment, driven gear (805) reverses in the same way, between the toothed edge and tooth bar (801) of gear (805) under antagonistic force, motorized adjustment assembly is moved along guide rail (808) towards gantry body (9) side; Meanwhile, with the second roller (804) adjusting steady electrical motor (809) together to reverse, the steady rope of tune (803) be coiled in the second roller (804) radial sidewalls is unclamped, (13) will be grabbed bucket towards the lift of gantry body (9) side, and stop and outwards swing with the grab bucket (13) of adjusting steady rope (803) to be connected;
Namely by the movement of motorized adjustment assembly on guide assembly, the steady rope of tune (803) be wrapped in the second roller (804) radial sidewalls is taken up or unclamps, and then (13) application force of grabbing bucket, finally make grab bucket (13) vertical ground all the time in the motion process lifting or put down of arm (7).
7., as claimed in claim 5 for the steady operating system of tune of crane grab, it is characterized in that: the bottom of described electric machine support (810) is provided with the groove matched with guide rail (808); The recess sidewall of electric machine support (810) is provided with anti-down projection; The sidewall of guide rail (808) is provided with corresponding anti-down groove.
8. adopt the steady operating system of tune according to claim 1 to carry out the steady method of tune of crane grab, it is characterized in that: carry out as follows:
Step 1, detecting device, signal transmitting and receiving and processing equipment, the initialization of tune stabilization device:
The power supply of open detection device, signal transmitting and receiving and processing equipment, tune stabilization device; The communication of setting up between three connects; The length value L of arm (7) is manually inputted to signal transmitting and receiving and processing equipment;
Step 2, obtain the real-time action parameter of hoisting crane and environmental parameters by detecting device, and be passed to signal transmitting and receiving and processing equipment; Wherein, the environmental parameters of hoisting crane comprises the speed of wind and the information in direction, the action parameter of hoisting crane comprise the real-time position information of grab bucket (13), the pivot angle information of arm (7) in vertical surface, arm (7) corner information in horizontal surface, grab bucket (13) by force information;
Step 3, by signal transmitting and receiving and processing equipment with gantry body (9) for the origin of coordinates sets up OXYZ system of axes; By signal transmitting and receiving and processing equipment, action parameter real-time for the hoisting crane received and environmental parameters are converted under OXYZ system of axes: grab bucket (13) air speed value V, the stress value F of grab bucket (13), the pivot angle value α of arm (7) around, the corner value β of arm (7) and the real-time coordinates (X of grab bucket (13)
d, Y
d, Z
d);
Step 4, carry out the whether safe judgement of hoisting crane working environment by signal transmitting and receiving and processing equipment according to the stress value F of grab bucket (13) and grab bucket (13) air speed value V around:
As stress value F > 0 kilogram (Kg) and air speed value V >=20 meter per second (m/s), signal transmitting and receiving and processing equipment are reported to the police, and alert closes heavy-duty machine, stops operation;
As stress value F≤0 kilogram (Kg) and air speed value V >=55 meter per second (m/s), signal transmitting and receiving and processing equipment are reported to the police, and alert closes heavy-duty machine, stops operation;
As stress value F > 0 kilogram (Kg) and air speed value V < 20 meter per second (m/s) or when stress value F≤20 kilogram (Kg) and air speed value V < 55 meter per second (m/s), enter next step;
Step 5, calculated the coordinate figure X of the X-direction of arm (7) end near the first roller (6) side according to the length value L of the pivot angle value α of arm (7), the corner value β of arm (7) and arm (7) by signal transmitting and receiving and processing equipment
a=L × Cos α × Cos β, referred to as the X axis coordinate figure X of arm
a:
Step 6, compared the X axis coordinate figure X of arm (7) by signal transmitting and receiving and processing equipment
awith the real-time X axis coordinate figure X of grab bucket (13)
dsize compare:
If the X axis coordinate figure X of arm (7)
abe not equal to the real-time X axis coordinate figure X of grab bucket (13)
d, then grab bucket (13) are in unstable position, assign operating instruction by signal transmitting and receiving and processing equipment to tune stabilization device;
If the X axis coordinate figure X of arm (7)
aequal the real-time X axis coordinate figure X of grab bucket (13)
d, then grab bucket (13) are in stable position, send instruction out of service by signal transmitting and receiving and processing equipment to tune stabilization device;
Step 7, when grab bucket (13) completes handling, close detecting device, signal transmitting and receiving and processing equipment and tune stabilization device, close heavy-duty machine, end operation.
9. the steady method of tune of crane grab as claimed in claim 8, is characterized in that:
If the X axis coordinate figure X of arm (7)
athe real-time X axis coordinate figure X of < grab bucket (13)
dthen send the control command of reversion by signal transmitting and receiving and processing equipment to tune stabilization device, steady electrical motor (809) driven gear (805) contrarotation is adjusted in order, and between the toothed edge and tooth bar (801) of gear (805) under antagonistic force, motorized adjustment assembly is moved towards gantry body (9) side; Meanwhile, the steady rope of tune (803) be coiled in the second roller (804) radial sidewalls unclamps with the second roller (804) adjusting steady electrical motor (809) together to reverse by order, (13) will be grabbed bucket towards the lift of gantry body (9) side, and stop and outwards swing with the grab bucket (13) of adjusting steady rope (803) to be connected;
If the X axis coordinate figure X of arm (7)
athe real-time X axis coordinate figure X of > grab bucket (13)
dthen send the control command of rotating forward by signal transmitting and receiving and processing equipment to tune stabilization device, order adjusts steady electrical motor (809) driven gear (805) positive to rotate, between the toothed edge and tooth bar (801) of gear (805) under antagonistic force, motorized adjustment assembly is moved towards the first roller (6) side; Meanwhile, order will adjust steady rope (803) to be coiled in the radial sidewalls of the second roller (804) with the second roller (804) adjusting steady electrical motor (809) together to rotate forward, towards the reversing sense lift that the grab bucket (13) of gantry body (9) side oscillation is moved to it, will stop with the grab bucket (13) of adjusting steady rope (803) to be connected to gantry body (9) lateral movement.
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| CN104495617B (en) | 2017-04-19 |
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