CN108383003A - The double-hung posture and safety monitoring system and method for a kind of crane for steelworks use - Google Patents
The double-hung posture and safety monitoring system and method for a kind of crane for steelworks use Download PDFInfo
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- CN108383003A CN108383003A CN201810264657.7A CN201810264657A CN108383003A CN 108383003 A CN108383003 A CN 108383003A CN 201810264657 A CN201810264657 A CN 201810264657A CN 108383003 A CN108383003 A CN 108383003A
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- slave
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- communication module
- microcontroller
- ladle
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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
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
-
- 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)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention discloses the double-hung postures and safety monitoring system and method for a kind of crane for steelworks use.Including host, slave A, slave B, slave C；Host is mounted in cockpit, and machine A and slave B are fixed on above two suspension hooks and acquire and solve suspension hook A and suspension hook B posture informations.Slave C is fixed on equalizer bar suitable position and can detect four equalizer bar lifting lugs and should change.Host may determine that two suspension hooks and ladle trunnion piece matching relationship according to the slave A received, the feedback information combination algorithm of slave C, and detection ladle is in handling process real-time attitude and equalizer bar lifting lug strain information.It can prompt to operate to driver by warning lamp and LCD screen, in terms of metallurgical ladle lifting can effective ancillary staff understand ladle hoisting process double-hung and the posture situation and equalizer bar lifting lug safe condition during lifting lug mated condition, ladle handling, the accident probability in ladle hoisting process is reduced, is guaranteed safe production.
Description
Technical field
The casting that field, especially iron and steel metallurgical industry are monitored the invention belongs to crane for steelworks use double-hung Hoisting Security rises
The double hook of heavy-duty machine hangs the safety monitoring system and method for posture and equalizer bar lifting lug, is suitable for lifting the larger height of volume and weight
Warm ladle (for holding high-temperature molten steel special container).
Background technology
Metallurgy industry ladle hoisting transportation is an important link in steel casting technique stream.Ladle is used for holding quality
More than 1500 degrees Celsius of the molten steel from 50 tons to more than 480 tons.It breaks off relations if there is ladle lifting lug in ladle lifting and transportational process,
Ladle falls or the existing contingencies such as equalizer bar lifting lug fatigue fracture.Mortal wound will be brought to staff's life security
Evil.
It is presently mainly operated by the visual command of ground staff, the visual confirmation of binding operation personnel carrys out crane pair
Suspension hook could lift by crane after hooking the trunnions of ladle both sides.Metallurgical scene causes visibility relatively low there are a large amount of dust and with smog,
The distance of site operation personnel and commanding apart from ladle is all distant, leads to not two suspension hooks and steel visible in detail
Packet trunnion mated condition also can not promptly and accurately grasp ladle in the mobile posture of allocation and transportation and safety problem.Equalizer bar lifting lug will be held
It is most weak one of the link of entire Lift-on/Lift-off System by the weight of ladle and molten steel whole.Equalizer bar lifting lug fatigue fracture is also
One fatal harm, equalizer bar lifting lug needs periodically to detect a flaw at present finds potential danger in time.Hoisting process can not be monitored in real time
Middle equalizer bar lifting lug strain, cannot find danger in time.
In recent years metallurgical scene due to during ladle hoisting transportation unexpected thing lead into heavy casualties event and happen occasionally.
The present invention can effectively assist ladle lifting operating personnel accurately to grasp double-hung and ladle trunnion mated condition, ladle handling
Posture situation in journey and equalizer bar lifting lug safe condition.This method and device can give the specific standby signal of operating personnel,
The probability of accident caused by reducing artificial observation operation.
Invention content
The present invention for overcome the deficiencies in the prior art, provides that a kind of operability is strong, safety lifting condition adjudgement is accurate
Really, the double-hung posture and safety monitoring system of the crane for steelworks use of intelligent real-time operation monitoring.
Specific technical solution is：A kind of the double-hung posture and safety monitoring system of crane for steelworks use, including host, slave
A, slave B and slave C；Wherein, host is located in cockpit, including microcontroller D, communication module D1, communication module D2, power supply
Conversion module, LCD screen, warning lamp A, warning lamp B；The slave A includes microcontroller A, attitude detection modules A, battery
A, communication module A1, communication module A2, power management module A, explosion-proof tank A；The slave B includes microcontroller B, attitude detection
Module B, battery B, communication module B, power management module B, explosion-proof tank B；The slave C includes microcontroller C, 4 strains
Detection module, battery C, wireless communication module C, power management module C and explosion-proof tank C；
Wherein, communication module A1With host computer communication module D1Communication；Communication module B and slave A communication modules A2Communication；Nothing
Line communication module C and host computer communication module D2Communication；Slave A, slave B, slave C each component be all separately fixed at explosion-proof golden case
A, in explosion-proof tank B and explosion-proof tank C, explosion-proof chamber interior wall does heat-insulated processing；Explosion-proof tank A and explosion-proof tank B are separately fixed at hanging for suspension hook A
The outer surface interposition set of hook B is at least the one third of suspension hook length with suspension hook top distance, and the two height is identical, uses
In monitoring hanging hook attitude；Explosion-proof tank C is fixed on the centre position of the upper surface of equalizer bar, the strain for monitoring equalizer bar；From
4 strain detecting modules of machine C are respectively adhered on 4 lifting lug outer surface centre positions, are connect with slave C by cable；
The power conversion module input terminal of host is electrically connected with 220V exchanges, is microcontroller D, communication module D1, communication
Module D2, LCD screen, warning lamp A, warning lamp B power supply；LCD screen, communication module D1, communication module D2, warning lamp A, show lamp B
It is connected respectively at functional pin corresponding with microcontroller D；The power management module A input terminals of slave A are connect with battery A, are
Microcontroller A, attitude detection modules A, communication module A1, communication module A2Power supply；The voltage detecting of power management module A connects
Mouth, attitude detection modules A, communication module A1, communication module A2It is connected respectively at functional pin corresponding with microcontroller A；Slave
The input terminal of the power management module B of B is connect with battery B, is microcontroller B, attitude detection module B, communication module B power；
Voltage detecting interface, attitude detection module B, the communication module B of power management module B draws with microcontroller B corresponding functions respectively
Foot connects；The power management module C of slave C is microcontroller C, strain detecting module, wireless communication module B power；Power supply pipe
The voltage interface, 4 strain detecting modules, wireless communication module C for managing module B connect with microcontroller C corresponding function pins respectively
It connects；
The attitude detection modules A and attitude detection module B can detect in space that the acceleration in three directions and angle add
Speed, at least 0.1 degree of angular resolution, detection acceleration range are more than or equal to 10g, and g indicates that acceleration of gravity takes 9.8m/s2；
Power management module has the function of DC voltage-stabilizing and battery voltage detection；Communication module is wireless communication module, has setting logical
Believe the function of baud rate and channel.
The method of the double-hung posture and safety monitoring system of a kind of above-mentioned crane for steelworks use：When not working, slave A,
Slave B, slave C enter dormant state；When work, host wakes up slave A and slave C by communication, waken up after slave A work from
Machine B；Suspension hook B posture informations are sent to slave A by slave B, and slave A is the posture information of suspension hook A and receives the posture of suspension hook B
Information is sent to host simultaneously；Four lifting lug answering in gravity direction of slave C detection double-hung equalizer bars in different loads
Become, and strain information is sent to host.
Further, in actual mechanical process, strong shock can occur with trunnion for gib head, impact the acceleration that can be brought
Interference.In the above method, when the attitude detection module detection upward acceleration of either side is less than 8g, carry out judging to work as the first two
Whether suspension hook hooks ladle trunnion；Rule of judgment includes：1) angle of the detection of attitude detection module suspension hook and gravity direction, slave
The detection angle of A and slave B is α1And α2；α1、α2At 6 °~8 °；2) the strain detecting module in slave C detects equalizer bar four
The strain of lifting lug within the scope of 0.8kmg/4kL~1.1kmg/4kL, wherein m be ladle, molten steel and suspension hook quality and, g indicate
Acceleration of gravity takes 9.8m/s2, k is the coefficient of elasticity of lifting lug, and L is the length of lifting lug；When two above Rule of judgment is full simultaneously
Ladle is lifted by crane when sufficient；Then host computer control warning lamp A lights prompt operator and can lift by crane, and otherwise warning lamp B lights prompt behaviour
Work person's the present situation cannot lift by crane；Host shows the strain letter of ladle posture information, equalizer bar lifting lug during ladle handling
It ceases and from machine battery low pressure warning information, assist operators understands ladle current state and detecting system safe condition in real time.
As the preferred technical solution of the present invention, strain detecting module is carried the resistance-strain of temperature-compensating by high temperature resistant
Then piece, which is connected on half full-bridge circuit, passes through voltage amplifier circuit, the strain of foil gauge is converted to microprocessor D can
Collect voltage signal.Strain detecting module is connect by cable with microprocessor D.Wherein cable needs to wrap up thermal insulation layer, outside
Layer uses the flexible casing protection of metal.
As the preferred technical solution of the present invention, microcontroller A, microcontroller B, microcontroller C, microcontroller D make
With STM32F103 Series of MCU.Power management module has the function of DC voltage-stabilizing and battery voltage detection.Attitude detection mould
Block uses the integrated chip of MEMS technology, is capable of detecting when the acceleration and angular acceleration in three directions in space, angle-resolved
0.1 degree of acceleration detection range of rate is greater than equal to 10g.Communication module is all the wireless communication module using low-power consumption, can be with
The baud rate and channel of communication are set.
Beneficial effects of the present invention are that can effectively be hung ancillary staff's understanding ladle in terms of metallurgical ladle lifting
Dress process double-hung and posture situation and equalizer bar lifting lug safe condition during lifting lug mated condition, ladle handling, reduce
Accident probability in ladle hoisting process, guarantees safe production.
Description of the drawings
Fig. 1 is the system structure diagram of the present invention.
Fig. 2 is the internal system connection diagram of the present invention.
In figure：1 host；2 slave A；3 slave B；4 slave C；5 equalizer bars；6 equalizer bar lifting lug A；7 equalizer bar lifting lug B；8 is flat
Balance beam lifting lug C；9 equalizer bar lifting lug D；10 suspension hook axis A；11 suspension hook axis B；12 strain detecting modules As；13 strain detecting module B；14
Strain detecting module C；15 strain detecting module D；16 ladles；17 trunnion A；18 trunnion B；19 cockpits；20 cables；101 micro-controls
Device D processed；102 power conversion modules；103 communication module D1；104 communication module D2；105 warning lamp A；106 warning lamp B；107LCD
Screen；201 microcontroller A；202 power management module A；203 communication module A1；204 communication module A2；205 battery A；206 appearances
State monitoring modular A；207 explosion-proof tank A；301 microcontroller B；302 power management modules；303 communication module C；304 attitude monitorings
Module B；305 battery B；306 explosion-proof tank B；401 microcontroller C；402 power management module C；403 communication module C；404 strains
Detection module A；405 strain detecting module B；406 strain detecting module C；407 strain detecting module D；408 battery C；409 is explosion-proof
Case.
Specific implementation mode
Host, slave A, slave B, slave C are connected in the following way.102 input terminal of host power supply conversion module
With drive 220V exchange be electrically connected, output end respectively with include microcontroller C101, communication module D1103, communication module D2104、
Warning lamp A105, warning lamp 106, LCD show the power end connection of screen 107.The ends SPI of LCD screen 107 and microcontroller D101
Mouth connection.Communication module D1103, communication module D2104 connect with the UART serial ports of microcontroller C101.Warning lamp A105, warning
The GPIO port connections different from microcontroller C101's respectively of lamp B106 control terminals.
The input terminal of the slave A2 power management modules A205 is connect with battery, output end respectively with microcontroller
A201, attitude monitoring modules A 206, wireless communication module A1203, wireless communication module A2204 power end connection, power management
The voltage monitoring interface of modules A is connect with the GPIO of microcontroller A.The IIC of attitude monitoring modules A 206 and microcontroller A201
Interface connects.Wireless communication module A1203, wireless communication module A2(204) the UART1 serial ports with microcontroller A (203) respectively
It is connected with UART2 serial ports.
The input terminal of the slave B-source management module B (302) is connect with battery (305), output end respectively with micro-control
The power end connection of device B (301), attitude monitoring module B304, wireless communication module B (303) processed, power management module B302's
Voltage monitoring interface is connect with the GPIO of microcontroller B.The IIC interfaces of attitude monitoring module B304 and microcontroller B301 connect
It connects.Wireless communication module B303 is connect with the UART serial ports of microcontroller A301.
The power management module C402 of the slave C be microcontroller B401,4 strain detecting modules 404,405,
406,407, communication module B401 powers.The voltage monitoring interface of power management module B402 connects with the GPIO of microcontroller B401
It connects.4 strain detecting modules 404,405,406,407 are connected with the ADC signal of microcontroller B acquisition port respectively.Communicate mould
Block B403 is connect with the UART serial ports of microcontroller A401.
U/COS-II real time operating systems are transplanted in the system that host STM32F407 chips are core, figure supports system
System is used for realizing that multi-task scheduling and LCD screen are shown.Microcontroller A, microcontroller B, microcontroller C are to use
STM32F103 microcontrollers.The attitude detection module use is integrated with 6 axis Inertial Measurement Unit (accelerometers+gyro
Instrument) MPU60 family chips.Communication module is all to use ZigBee low-consumption wireless communication modules, and the baud of communication can be arranged
Rate and channel.Explosion-proof chamber interior wall all does heat-insulated processing with ceramic fibre thermal insulation board.
Explosion-proof tank A and explosion-proof tank B is separately fixed at the outer surface interposition set of the suspension hook B of suspension hook A apart from suspension hook top
End distance is at least the one third of suspension hook length and keeps highly consistent.Explosion-proof tank C is fixed in the upper surface of equalizer bar
Between position, 4 foil gauges of slave C are respectively adhered on 4 lifting lug outer surface centre positions.Use cable and microprocessor D
Connection.It communicates between setting communication pattern slave A and slave B, is communicated between slave A and host, led between slave C and host
Letter, is arranged in different channels, 115200Bit/s is uniformly arranged in the baud rate of communication.After all installing, startup is set
It is standby, working condition is entered by host wake-up slave, ladle lifting in the situation and LCD screen of warning lamp is observed in cockpit
Monitoring information.
Claims (3)
1. the double-hung posture and safety monitoring system of a kind of crane for steelworks use, which is characterized in that including host, slave A, slave
B and slave C；Wherein, host is located in cockpit, including microcontroller D, communication module D1, communication module D2, power supply modulus of conversion
Block, LCD screen, warning lamp A, warning lamp B；The slave A includes microcontroller A, attitude detection modules A, battery A, communication
Modules A1, communication module A2, power management module A, explosion-proof tank A；The slave B include microcontroller B, attitude detection module B,
Battery B, communication module B, power management module B, explosion-proof tank B；The slave C includes microcontroller C, 4 strain detecting moulds
Block, battery C, wireless communication module C, power management module C and explosion-proof tank C；
Wherein, communication module A1With host computer communication module D1Communication；Communication module B and slave A communication modules A2Communication；Channel radio
Believe module C and host computer communication module D2Communication；Slave A, slave B, slave C each component be all separately fixed at explosion-proof golden case A, anti-
In quick-fried case B and explosion-proof tank C, explosion-proof chamber interior wall does heat-insulated processing；Explosion-proof tank A and explosion-proof tank B is separately fixed at the suspension hook B of suspension hook A
The set of outer surface interposition and suspension hook top distance be at least the one third of suspension hook length, the two height is identical；It is explosion-proof
Case C is fixed on the centre position of the upper surface of equalizer bar；4 strain detecting modules of slave C are respectively adhered on the outside of 4 lifting lugs
Surface centre position is connect by cable with slave C；
The power conversion module input terminal of host is electrically connected with 220V exchanges, is microcontroller D, communication module D1, communication module
D2, LCD screen, warning lamp A, warning lamp B power supply；LCD screen, communication module D1, communication module D2, warning lamp A, show lamp B difference
It is connected in functional pin corresponding with microcontroller D；The power management module A input terminals of slave A are connect with battery A, are micro-control
Device A processed, attitude detection modules A, communication module A1, communication module A2Power supply；The voltage detecting interface of power management module A, appearance
State detection module A, communication module A1, communication module A2It is connected respectively at functional pin corresponding with microcontroller A；The electricity of slave B
The input terminal of source control module B is connect with battery B, is microcontroller B, attitude detection module B, communication module B power；Power supply pipe
Voltage detecting interface, attitude detection module B, the communication module B of reason module B is connect with microcontroller B corresponding function pins respectively；
The power management module C of slave C is microcontroller C, strain detecting module, wireless communication module B power；Power management module B
Voltage interface, 4 strain detecting modules, wireless communication module C connect with microcontroller C corresponding function pins respectively；
The attitude detection modules A and attitude detection module B can detect the acceleration and angular acceleration in three directions in space,
At least 0.1 degree of angular resolution, detection acceleration range are more than or equal to 10g, and g indicates that acceleration of gravity takes 9.8m/s2；Power supply pipe
Reason module has the function of DC voltage-stabilizing and battery voltage detection；Communication module is wireless communication module, has setting communication baud
The function of rate and channel.
2. a kind of method of the double-hung posture and safety monitoring system of crane for steelworks use described in claim 1, which is characterized in that
When not working, slave A, slave B, slave C enter dormant state；When work, host wakes up slave A and slave C by communication,
Slave B is waken up after slave A work；Suspension hook B posture informations are sent to slave A by slave B, slave A the posture information of suspension hook A with
It receives the posture information of suspension hook B while being sent to host；Slave C detection double-hungs are hung for four of equalizer bar in different loads
Strain information and is sent to host by ear in the strain of gravity direction.
3. the method for the double-hung posture and safety detecting system of a kind of crane for steelworks use according to claim 2, special
Sign is, when the attitude detection module detection upward acceleration of either side is less than 8g, carries out judging whether work as the first two suspension hook
Hook ladle trunnion；Rule of judgment includes：1) angle of the detection of attitude detection module suspension hook and gravity direction, slave A and slave B
Detection angle be α1And α2；α1、α2At 6 °~8 °；2) the strain detecting module in slave C detects answering for four lifting lug of equalizer bar
Become within the scope of 0.8kmg/4kL~1.1kmg/4kL, wherein m be ladle, molten steel and suspension hook quality and, g indicate gravity accelerate
Degree takes 9.8m/s2, k is the coefficient of elasticity of lifting lug, and L is the length of lifting lug；It is lifted by crane when two above Rule of judgment meets simultaneously
Ladle；Then host computer control warning lamp A lights prompt operator and can lift by crane, and otherwise it is current to light prompt operator by warning lamp B
Situation cannot lift by crane；Host shows the strain information and slave of ladle posture information, equalizer bar lifting lug during ladle handling
Battery low pressure warning information, assist operators understand ladle current state and detecting system safe condition in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810264657.7A CN108383003B (en) | 2018-03-28 | 2018-03-28 | The double-hung posture and safety monitoring system and method for a kind of crane for steelworks use |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810264657.7A CN108383003B (en) | 2018-03-28 | 2018-03-28 | The double-hung posture and safety monitoring system and method for a kind of crane for steelworks use |
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| Publication Number | Publication Date |
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| CN108383003A true CN108383003A (en) | 2018-08-10 |
| CN108383003B CN108383003B (en) | 2019-04-16 |
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| CN201810264657.7A Active CN108383003B (en) | 2018-03-28 | 2018-03-28 | The double-hung posture and safety monitoring system and method for a kind of crane for steelworks use |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850766A (en) * | 2019-01-28 | 2019-06-07 | 唐山钢铁集团微尔自动化有限公司 | The safety detection method and system of overhead traveling crane handling iron ladle |
| CN110333731A (en) * | 2019-07-01 | 2019-10-15 | 中煤第五建设有限公司 | A kind of sinking platform suspending system intelligent balance control device and method |
| CN110885005A (en) * | 2019-11-25 | 2020-03-17 | 大连理工大学 | Safe hoisting monitoring system and monitoring method of double-hook smelting crane |
| CN112850469A (en) * | 2021-01-04 | 2021-05-28 | 大连理工大学 | Attitude angle data acquisition system and method for double lifting hooks of crane |
| CN114368602A (en) * | 2022-01-11 | 2022-04-19 | 淮南万泰电子股份有限公司 | Protection device for mining belt conveyor controller |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850766A (en) * | 2019-01-28 | 2019-06-07 | 唐山钢铁集团微尔自动化有限公司 | The safety detection method and system of overhead traveling crane handling iron ladle |
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| CN112850469A (en) * | 2021-01-04 | 2021-05-28 | 大连理工大学 | Attitude angle data acquisition system and method for double lifting hooks of crane |
| CN114368602A (en) * | 2022-01-11 | 2022-04-19 | 淮南万泰电子股份有限公司 | Protection device for mining belt conveyor controller |
| CN114368602B (en) * | 2022-01-11 | 2024-06-04 | 淮南万泰电子股份有限公司 | Protection device for mining belt conveyor controller |
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| Publication number | Publication date |
|---|---|
| CN108383003B (en) | 2019-04-16 |
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