CN106744325A - A kind of method and apparatus measured with forecast crane arm support head sidesway - Google Patents
A kind of method and apparatus measured with forecast crane arm support head sidesway Download PDFInfo
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- CN106744325A CN106744325A CN201710195498.5A CN201710195498A CN106744325A CN 106744325 A CN106744325 A CN 106744325A CN 201710195498 A CN201710195498 A CN 201710195498A CN 106744325 A CN106744325 A CN 106744325A
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- Prior art keywords
- arm support
- laterally offset
- offset value
- lifting
- crane
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Classifications
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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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention proposes a kind of method for measuring crane arm support head sidesway, is related to arm support type and crane field.By measurement when mounted, lifting before or lifting in arm support head signal point to four air line distances of point distance measurement on arm support coxopodite arm bloster hinge axis direction, according to geometrical principle, calculate arm support sidesway direction and laterally offset value.Present invention provides the measurement and predictor of realizing above-mentioned measuring method, including signalling means, laser range finder, laterally offset calculator, in good time laterally offset display.This measuring method is simple and reliable, and measuring accuracy is high, and implementation and versatility are fine.Device layout of the invention is on arm support and revolving dial, adapt to any operating mode of cantilever crane arm support combination, also it is avoided that outside environmental elements influence, sidesway direction and the laterally offset value of arm support head can be accurately measured and forecast using embedding assembly chip, it is ensured that security control in job safety condition and operation before crane job.
Description
Technical field
The present invention relates to arm support type and crane field, in particular it relates to a kind of crane arm support head laterally offset
Measuring method, measurement apparatus.
Background technology
As crane is to maximization, heavy-duty develops, and the arm support of Lattice Crane and Telescopic crane also exists
Increase towards arm joint number, the elongated direction of full elongation is developed.But during erection crane arm support, due to two ends rope
Pulling force is uneven, and pulling force vector conjunction direction is misaligned with arm support center line, and error, linearity of each joint arm etc. are connected between arm support
Factor causes arm support that laterally offset occurs in uphill process, or in working order under, because weight moves inertia, the wind of side
The influence of the factors such as load, arm support can also occur different degrees of sidesway, so as to influence the service behaviour of crane, and bury peace
Full hidden danger.
Originally for the detection of arm support sidesway obtained by way of finite element modeling is calculated, in working order under
Arm support laterally offset value can not truly measure and obtain, lifting is generally in most cases judged by the experience of operator
The sidesway situation of horn frame, and sidesway is a kind of spatial deviation, only cannot accurately judge current arm support with naked eyes or experience
Side sway situation.
Measuring method, device and the system of a kind of crane and its arm support side-play amount have been invented by Zhong Lianchong sections, by detection
Length, locus and angle in initial time and end time arm support, draw arm support when end time is relative to starting
The side-play amount at quarter, including offset of vertical amount and horizontal offset；Method in above-mentioned patent measures arm support by laser range finder
Length, then deviation angle is measured by angular transducer, so as in measuring side-play amount, but real work, arm support itself can be produced
Deformation, such measurement error is inevitable, and certainty of measurement is not high.
Then, a kind of detection method of crane arm side sway has been invented again by Zhong Lianchong sections, under the working condition of arm,
The theory of the physical location relative to line of the line of detection the distance between arm arm head and arm tail L and arm arm head and arm tail
The deflection angle θ of position, according to apart from L and deflection angle θ so as to obtain arm side sway amount；But, the method in above-mentioned patent
To be converted into rope capacity by measuring reel rotating cycle, using rope capacity as arm arm head between arm tail away from
It is possible in theory from L, but the calculated diameter of reel and the winding number of turns of steel wire rope are relevant, not by the diameter of steel wire rope in patent
Take into account, cause measurement error to increase.
Xu works have invented a kind of crane semi-girder side sway detection method and device, are directed to telescopic arm crane arm support and base
The side sway degree of crane semi-girder is determined in Image Vision System.The equipment such as including positioning mark, image capture device, utilizes
Crane semi-girder bottom image capture device collection include semi-girder minor details arm top positioning identify image to be matched, due to
Position of the mark in image to be matched is positioned in the case of semi-girder side sway can be different from precalculated position, so that for real-time detection rises
Heavy-duty machine semi-girder side sway degree provides foundation.But, above-mentioned patent detection method and device are complicated, are not easy to install.If running into rain
During the complicated weather such as snow dense fog, equipment cannot be used or certainty of measurement does not meet engine request, and practicality is relatively low, so simultaneously
It is not applied on crane.
The content of the invention
It is an object of the invention to provide a kind of method measured with forecast crane arm support head sidesway, as shown in figure 1, its
In, the measuring method is comprised the following steps：When crane arm support is installed, before lifting or when lifting, measurement arm support head is following
Air line distance L1s of the signaling point M at edge midpoint to arm support coxopodite point distance measurement A；When crane arm support is installed, lifting before or lift
When, the air line distance L2 of the signaling point M to arm support coxopodite point distance measurement B at measurement arm support head lower edge midpoint；In crane arm support
During installation, before lifting or when lifting, the straight line of the signaling point M to arm support coxopodite point distance measurement C at measurement arm support head lower edge midpoint
Apart from L3；When crane arm support is installed, before lifting or when lifting, the signaling point M at arm support head lower edge midpoint to arm is measured
The air line distance L4 of frame coxopodite point distance measurement D.
It is combined two-by-two using four air line distances surveyed, using geometry principle, calculates crane arm support head
When mounted, before lifting or during lifting it is relative with theoretical case under sidesway direction and laterally offset value, draw laterally offset value
S1, laterally offset value S2, laterally offset value S3, laterally offset value S4, laterally offset value S5, laterally offset value S6。
To lateral deviant S1, laterally offset value S2, laterally offset value S3, laterally offset value S4, laterally offset value S5, laterally
Deviant S6Average, obtain laterally offset value S.
Further, the theoretical case is：In the case of all extraneous factors are eliminated, when crane arm support is installed,
Before lifting and during lifting, the sidesway direction of arm support head and laterally offset value, it is therefore apparent that under this three kinds of situations, arm support head
Sidesway will not occur, laterally offset value is zero.
Further, it is during the installation：After crane arm support assembling is finished, the sidesway direction of arm support head and lateral
Deviant.
Further, it is before the lifting：After crane arm support is installed, by luffing drive mechanism by arm support from
Ground is risen after being raised to aerial specified location, the sidesway direction of arm support head and laterally offset value.
Further, it is during the lifting：In actual job situation, arm support is by lifting mechanism to crane hanging component thing
During body is lifted by crane, the object leave ground completely and stabilization in the air when, the sidesway direction of arm support head and lateral
Deviant.
Further, the sidesway direction：Tangential direction of the arm support head on plane of rotation.
Further, the laterally offset value is：The length value that arm support head shifts on sidesway direction.
Further, described arm support coxopodite point distance measurement A, B, C, D are located on arm support coxopodite arm bloster hinge axis, and with coxopodite
Center O of the arm on bloster hinge axis direction is symmetrically distributed in both sides for midpoint, and spacing distance is a.
Present invention also offers a kind of device measured with forecast crane arm support head sidesway, the measurement apparatus include letter
Number device, laser range finder, laterally offset calculator, laterally offset display.
Further, the signalling means is light source, and measurable signaling point M is searched out for laser range finder.
Further, the laser range finder is that for the distance between measurement signal point and point distance measurement, and will measure
Air line distance signal L1, L2, L3, L4 are transferred to laterally offset calculator, and according to crane arm support when mounted, before lifting or
Elevation angle during lifting, the operating angle for adjusting laser range finder can search out signaling point M to ensure laser range finder.
Further, the laterally offset calculator is used to receive air line distance signal L1, L2, L3, L4, and according to above-mentioned
Air line distance signal of change crane arm support head sidesway direction and laterally offset value S.
Further, the laterally offset display be used for show crane arm support head operationally carve in real time sidesway
Direction and laterally offset value, and when the lateral deviant of crane arm support head exceedes laterally offset setting, send alarm signal
Number.
It is the sidesway direction of measurable crane arm support head and lateral by simple method by above-mentioned technical proposal
Deviant.This method is simple and convenient, and measuring accuracy is high, and implementation and versatility are fine.Device of the invention is laid out and is rising
On heavy-duty machine arm support and revolving dial, and do not influenceed by crane operating mode, it is also possible to avoid the influence of extraneous factor, Neng Gouzhun
Arm support head drift condition when mounted, before lifting or after lifting is really grasped, helps driver to carry out arm support head in time
Correction, it is ensured that the safe operation of crane.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute the part of specification, with following tool
Body implementation method is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the flow chart of measuring method of the present invention；
Fig. 2 is the schematic diagram of measuring method of the present invention；
Fig. 3 is laterally offset value S of the present invention1Calculating schematic diagram；
Fig. 4 is laterally offset value S of the present invention2Calculating schematic diagram；
Fig. 5 is laterally offset value S of the present invention3Calculating schematic diagram；
Fig. 6 is laterally offset value S of the present invention4Calculating schematic diagram；
Fig. 7 is laterally offset value S of the present invention5Calculating schematic diagram；
Fig. 8 is laterally offset value S of the present invention6Calculating schematic diagram；
Fig. 9 is the layout of measurement of the present invention and predictor；
Figure 10 is the schematic diagram of measurement of the present invention and predictor.
Description of reference numerals：
1. point distance measurement A；2. point distance measurement B；3. point distance measurement C；4. point distance measurement D；
5. drivers' cab；6. laterally offset display；7. laser range finder；
8. laser range finder；9. laser range finder；10. laser range finder；
11. signalling means；12. laterally offset calculators；13. revolving dials.
Specific embodiment
Specific embodiment of the invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
The present invention provides a kind of method for measuring crane arm support head laterally offset, as shown in figure 1, wherein, the measurement
Method is comprised the following steps：When crane arm support is installed, before lifting or when lifting, the letter at measurement arm support head lower edge midpoint
The air line distance L1 of number point M to arm support coxopodite point distance measurement A；When crane arm support is installed, before lifting or when lifting, arm support is measured
Air line distance L2s of the signaling point M at head lower edge midpoint to arm support coxopodite point distance measurement B；When crane arm support is installed, lifting
During preceding or lifting, the air line distance L3 of the signaling point M to arm support coxopodite point distance measurement C at measurement arm support head lower edge midpoint；Rising
When heavy-duty machine arm support is installed, before lifting or during lifting, the signaling point M at measurement arm support head lower edge midpoint to arm support coxopodite point distance measurement
The air line distance L4 of D.
It is combined two-by-two using four space lengths surveyed, using geometry principle, calculates crane arm support in peace
During dress, before lifting or during lifting it is relative with theoretical case under sidesway direction and laterally offset value, draw laterally offset value S1, side
To deviant S2, laterally offset value S3, laterally offset value S4, laterally offset value S5, laterally offset value S6。
To lateral deviant S1, laterally offset value S2, laterally offset value S3, laterally offset value S4, laterally offset value S5, laterally
Deviant S6Average, obtain laterally offset value S.
Further, described theoretical case is not consider in erection crane arm support or before lifting, due to two ends rope
Suo Lali is uneven, and pulling force vector conjunction direction is misaligned with arm support center line, and error, the linearity of each joint arm are connected between arm support
Cause arm support that sidesway occurs in uphill process etc. factor, or in lifting, because weight moves inertia, the wind load of side
Etc. the influence of factor, crane hanging component object leaves ground and stablizes skyborne situation.It is during the installation：In the gib arm of crane
After frame assembling is finished, the sidesway direction of arm support head and laterally offset value.It is before the lifting：Installed in crane arm support
Afterwards, after arm support is raised to aerial specified location by luffing drive mechanism from ground, the sidesway direction of arm support head and lateral
Deviant.
It is during the lifting：In actual job situation, arm support is risen by lifting mechanism to crane hanging component object
During hanging, the object leave ground completely and stabilization in the air when, the sidesway direction of arm support head and laterally offset value.
According to the present invention provide measuring method, first measure crane when mounted, lifting before or lifting when arm support top
The air line distance of signaling point M to arm support coxopodite point distance measurement A, B, C, D is saved, arm support coxopodite point distance measurement A, B, C, D are located at arm support coxopodite
On arm bloster hinge axis, and center O with coxopodite arm on bloster hinge axis direction is symmetrically distributed in both sides, spacer as midpoint
From being a, as shown in Fig. 2 according to basic geometry principle, arm support epimerite signaling point M to four point distance measurements of arm support coxopodite can be obtained
The distance of the straight line at place is certain.
In figure 3, because, so
。
In fig. 4, because, so
。
In Figure 5, because, so
。
In figure 6, because, so
。
In the figure 7, because, so
。
In fig. 8, because, so
。
When the quantity N of point distance measurement is more than 4, gained distance measurement value SiNumber be, therefore point distance measurement quantity is not only limited
In four, this patent is illustrated by taking four point distance measurements as an example.
To S1、S2、S3、S4、S5、S6Average,
。
It can be seen that, the sidesway direction of crane arm support head and laterally offset value S can directly be tried to achieve by L1, L2, L3, L4, a.
As shown in Fig. 2 when calculated value is timing, arm support head bias direction is ray OD directions, and when calculated value is to bear, arm support head is inclined
Shifting direction is ray OA directions.
By above-mentioned measuring method, it is only necessary to by measuring air line distance L1, L2, L3, L4, you can obtain crane arm support
The sidesway direction of head and laterally offset value.This method is simple and convenient, and measuring accuracy is high, and implementation and versatility are fine.This
The device of invention is laid out on crane arm support and revolving dial, and is not influenceed by crane operating mode, it is also possible to avoided
The influence of extraneous factor.
By above-mentioned measuring method, sidesway direction and the laterally offset value of crane arm support head can be accurately measured,
During lifting, it becomes possible to crane arm support head sidesway warning system is set up with laterally offset value as important evidence, lifting is realized
Security control in machine operation.Meanwhile, when mounted or before lifting can also be super according to sidesway direction and the control of laterally offset value
Lifting device carries out crane arm support head correction, it is ensured that the job safety condition before crane job.In addition it is also possible to by lifting
Horn frame head when mounted, lifting before and lifting when sidesway direction and laterally offset value be collected, be stored in the crane
Performance parameter database, help is played to research crane performance.
A kind of device measured with forecast crane arm support head sidesway, as shown in figure 9, including signalling means, laser ranging
Instrument, laterally offset calculator and laterally offset display.
Laser range finder 7,8,9,10 each searches out the signaling point M on signalling means 11, and measures and respectively test oneself
Air line distance between point and signaling point, then sends air line distance length signals to laterally offset calculator 12, through meter
After calculation, laterally offset calculator 12 sends the data such as sidesway direction and laterally offset value to laterally offset display 6.
Laser range finder 7,8,9,10 is arranged on crane arm support coxopodite, with arm support coxopodite in bloster hinge axis direction
Center 0 is symmetrically distributed in both sides for midpoint, and quantity is four, and spacing distance is a, for measuring between point distance measurement and signaling point
Air line distance.According to crane arm support when mounted, the elevation angle before lifting or when lifting, the operating angle of laser range finder needs
It is adjusted to ensure that laser range finder can search out signaling point M.
Signalling means 11 is arranged on crane arm support head lower edge midpoint, and quantity is one, and the signalling means is light source, is used
Measurable signaling point M is searched out in laser range finder.
Laterally offset calculator 12 be arranged on driver's cabin 5 in, quantity be one, for receive air line distance signal L1, L2,
L3, L4, and according to above-mentioned air line distance signal of change crane arm support head sidesway direction and laterally offset value S.It is lateral inclined
Move calculator 12 core component be embedding assembly chip, for process receive data and draw arm support head sidesway direction and
Laterally offset value.
Embedding assembly chip is displayed on laterally offset display 6 after calculating laterally offset value S by data transfer, side
To shift display 6 in drivers' cab 5.Drivers' cab 5 is located on crane rotation platform 13.When crane arm support head is being installed
When, when sidesway direction and laterally offset value are more than setting before lifting or during lifting, the alarm report in laterally offset display 6
It is alert.
Embodiments of the present invention are described in detail above in association with accompanying drawing, but, the present invention is simultaneously limited to above-mentioned implementation method
In detail, in range of the technology design of the invention, various simple variants can be carried out to technical solution of the present invention, this
A little simple variants belong to protection scope of the present invention.
Claims (12)
1. it is a kind of measure with forecast crane arm support head sidesway method, as shown in Figure 1, it is characterised in that the measuring method
Comprise the following steps：When crane arm support is installed, before lifting or when lifting, the signaling point at measurement arm support head lower edge midpoint
Air line distance L1s of the M to arm support coxopodite point distance measurement A；When crane arm support is installed, before lifting or when lifting, arm support head is measured
Air line distance L2s of the signaling point M at lower edge midpoint to arm support coxopodite point distance measurement B；When crane arm support is installed, lifting before or
During lifting, the air line distance L3 of the signaling point M to arm support coxopodite point distance measurement C at measurement arm support head lower edge midpoint；In crane
When arm support is installed, before lifting or when lifting, the signaling point M at measurement arm support head lower edge midpoint is to arm support coxopodite point distance measurement D's
Air line distance L4；It is combined two-by-two using four air line distances surveyed, using geometry principle, calculates crane arm support head
Portion when mounted, before lifting and during lifting it is relative with theoretical case under sidesway direction and laterally offset value, draw laterally offset
Value S1, laterally offset value S2, laterally offset value S3, laterally offset value S4, laterally offset value S5, laterally offset value S6；To lateral inclined
Shifting value S1, laterally offset value S2, laterally offset value S3, laterally offset value S4, laterally offset value S5, laterally offset value S6It is averaged
Value, obtains laterally offset value S.
2. measuring method according to claim 1, it is characterised in that the theoretical case is：Eliminate it is all it is extraneous because
In the case of element, when crane arm support is installed, before lifting and during lifting, the sidesway direction of arm support head and laterally offset value show
And be clear to, under this three kinds of situations, arm support head will not occur sidesway, and laterally offset value is zero.
3. measuring method according to claim 1, it is characterised in that be during the installation：Assembled in crane arm support
Bi Hou, the sidesway direction of arm support head and laterally offset value.
4. measuring method according to claim 1, it is characterised in that be before the lifting：Installed in crane arm support
Bi Hou, after arm support is raised to aerial specified location by luffing drive mechanism from ground, the sidesway direction of arm support head and side
To deviant.
5. measuring method according to claim 1, it is characterised in that be during the lifting：In actual job situation, arm
During frame is lifted by crane by lifting mechanism to crane hanging component object, the object leaves ground and stablizes in the air completely
When, the sidesway direction of arm support head and laterally offset value.
6. measuring method according to claim 1, it is characterised in that under the sidesway direction is theoretical case, arm support head
Tangential direction of the portion on plane of rotation, the laterally offset value is the length that arm support head shifts on sidesway direction
Value.
7. measuring method according to claim 1, it is characterised in that as shown in Fig. 2 the arm support coxopodite point distance measurement A, B,
C, D are located on arm support coxopodite arm bloster hinge axis, and center O with coxopodite arm on bloster hinge axis direction divides for middle point symmetry
In both sides, spacing distance is a to cloth.
8. it is a kind of measure with forecast crane arm support head sidesway device, it is characterised in that the device include signalling means, laser
Rangefinder, laterally offset calculator, laterally offset display.
9. measurement apparatus according to claim 8, it is characterised in that the signalling means is light source, for laser range finder
Search out measurable signaling point M.
10. measurement apparatus according to claim 8, it is characterised in that the laser range finder is for measurement signal point M
The distance between with point distance measurement A, B, C, D, and air line distance signal L1, L2, L3, the L4 that will be measured are transferred to laterally offset calculating
Device, and, the elevation angle before lifting or when lifting adjusts the operating angle of laser range finder with true according to crane arm support when mounted
Protecting laser range finder can search out signaling point M.
11. measurement apparatus according to claim 8, it is characterised in that the laterally offset calculator is used to receive straight line
Distance signal L1, L2, L3, L4, and according to the above-mentioned air line distance lateral offset direction of signal of change crane arm support head and
Laterally offset value S.
12. measurement apparatus according to claim 8, it is characterised in that the laterally offset display is used to receive lateral
The sidesway direction of drift computer and laterally offset value and show crane arm support head operationally carve in sidesway direction in real time
With laterally offset value, and the lateral deviant of crane arm support head exceed laterally offset setting when, send alarm signal.
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| CN108689300A (en) * | 2018-08-08 | 2018-10-23 | 北京起重运输机械设计研究院有限公司 | Flap-type grab bucket blanking detection and protective device and installation method |
| CN109341662A (en) * | 2017-12-26 | 2019-02-15 | 贵州桥梁建设集团有限责任公司 | Pylon deviates automatic measurement alarm system and method |
| CN111453618A (en) * | 2020-04-16 | 2020-07-28 | 浙江三一装备有限公司 | Monitoring method and monitoring device for lateral bending displacement of crane boom and crane |
| CN113135512A (en) * | 2021-04-29 | 2021-07-20 | 徐州重型机械有限公司 | Crane boom monitoring method, device and system and crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20170531 |