CN108502726A - A kind of beat calibrates the beat calibration method of derrick crane and its suspension hook - Google Patents
A kind of beat calibrates the beat calibration method of derrick crane and its suspension hook Download PDFInfo
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- CN108502726A CN108502726A CN201810602081.0A CN201810602081A CN108502726A CN 108502726 A CN108502726 A CN 108502726A CN 201810602081 A CN201810602081 A CN 201810602081A CN 108502726 A CN108502726 A CN 108502726A
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- Prior art keywords
- beat
- rope section
- suspension hook
- moving trolley
- angle
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
-
- 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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
- B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention relates to a kind of beat calibration derrick crane and its beat calibration methods of suspension hook, and crane includes hanging mechanism, and the movable pulley device of hanging mechanism is connect by the first rope section with moving trolley；Suspension hook is connect by the second rope section with movable pulley device；Measurement and control unit is used to control and measure the rotational angle of tower arm and the sliding distance of moving trolley；Beat measuring device is arranged in movable pulley device bottom, the beat data for measuring suspension hook；Processing unit is communicated to connect with measurement and control unit and beat measuring device, for controlling tower arm rotation and moving trolley sliding to offset waving for suspension hook.The present invention can carry out the swing of movable pulley device and suspension hook to prevent waving adjustment in real time.
Description
Technical field
The present invention relates to technical field of building construction, more particularly to a kind of beat calibration derrick crane and its suspension hook it is inclined
Put calibration method.
Background technology
During derrick crane carries out operation, in order to accurately complete lifting operation, therefore, to assure that suspension hook
It can be accurately moved to operating position, and keep holding position in operating position, in order to accurately sling cargo.But
In practical work process, since the rope section of connecting shackle is flexible, during working at height, rope section be easy by
Windage generates swing, and then suspension hook movement is driven to wave so that suspension hook can not accurately sling cargo.On the other hand,
After suspension hook slings cargo, when rope section and suspension hook generate when substantially swinging, the cargo of lifting is possible to get rid of from suspension hook and fall, and is easy
Cause safety accident.Meanwhile when the holder of rope section and crane distance is closer, the shaking of suspension hook and rope section makes it possible to goods
Object collides with holder, causes equipment damage.
Disclosed above- mentioned information is only used for reinforcing the understanding of the background to the present invention in the background technology, therefore it may be wrapped
Containing the information for not being formed as the prior art that those of ordinary skill in the art are known.
Invention content
In view of this, the embodiment of the present invention is desirable to provide the beat calibration of a kind of beat calibration derrick crane and its suspension hook
Method at least provides a kind of beneficial selection to solve or alleviate the technical problems existing in the prior art.
What the technical solution of the embodiment of the present invention was realized in：
According to one embodiment of present invention, a kind of beat calibration derrick crane is provided, including：
Holder is provided with tower arm on the holder, moving trolley is slidably connected in the tower arm；
Hanging mechanism, including the first rope section, the second rope section, movable pulley device and suspension hook；The movable pulley device passes through
First rope section is connect with the moving trolley, and first rope section drives the movable pulley device to carry out elevating movement；Institute
Suspension hook is stated to connect with the movable pulley device by second rope section；
Measurement and control unit, the sliding distance at rotational orientation angle and the moving trolley for measuring the tower arm, Yi Jiyong
In controlling, the tower arm carries out rotation and the moving trolley is slided；
Beat measuring device is arranged in the movable pulley device bottom, the beat data for measuring the suspension hook；
Processing unit is communicated to connect with the measurement and control unit and the beat measuring device, for according to the beat number
According to the current displacement distance in the current rotational orientation angle of the, tower arm and the moving trolley, the tower is controlled
Arm rotates and moving trolley sliding, to offset waving for the suspension hook.
In some embodiments, further include control unit, the movable pulley device is driven for controlling first rope section
And the adjustable height of the suspension hook.
In some embodiments, described inclined when first rope section and second rope section are under plumbness
The center and the center of the movable pulley device for putting measuring device are located along the same line.
In some embodiments, the beat measuring device includes indium watt round bar yardage word horizontal limb and laser signal hair
Emitter.
The embodiment of the present invention additionally provides a kind of beat calibration method of beat calibration tower crane lift hook, is applied to upper
The crane for stating any embodiment, the method includes：
The tower arm current rotational orientation angle is recorded by the measurement and control unit and the moving trolley is current
The sliding distance；
Beat measuring device measures the beat data of the suspension hook；
According to the current rotational orientation angle of the beat data, the tower arm and the moving trolley it is current described in
Sliding distance, the processing unit calculate the tower arm wait for rotational angle and the moving trolley wait for sliding distance；
According to it is calculated it is described wait for rotational angle and it is described wait for sliding distance, the measurement and control unit control the tower arm into
Row correspondingly rotates and controls the moving trolley and slided accordingly, to offset waving for the suspension hook.
In some embodiments, the beat measuring device measures the beat data, including measures the perpendicular of the suspension hook
Straight deflection angle, including step：
Obtain horizontal nutation angle and the horizontal nutation distance of the relatively described beat measuring device of the suspension hook；
The calculation formula at the horizontal nutation angle is：
α=A；
The calculation formula of the horizontal nutation distance is：
Wherein, α is the horizontal nutation angle, and R is the horizontal nutation distance, and Α is what the beat measuring device measured
Horizontal nutation angle, r are the horizontal nutation distance, and l is that the laser signal transmitter of the beat measuring device is relatively described inclined
Length of the measuring device in the second rope section is put, L2 is the length of second rope section；
The calculation formula of the vertical deflection angle is：
Wherein, R is the horizontal nutation distance, and L2 is the length of second rope section, and β is the vertical deflection angle.
In some embodiments, described to wait for that the calculation formula of rotational angle is:
As Δ θ ＞ 0, the tower arm rotates counterclockwise, and as Δ θ ＜ 0, the tower arm rotates clockwise；
It is described to wait for that the calculation formula of sliding distance is:
As Δ ρ ＞ 0, the moving trolley is moved to close to the direction of the holder, as Δ ρ ＜ 0, the moving trolley to
It moves in direction far from the holder；
Wherein, Δ θ is that the described of the tower arm waits for that rotational angle, Δ ρ are that the described of the moving trolley waits for sliding distance,
θ is the current rotational orientation angle of the tower arm, and ρ is the current displacement distance of the moving trolley, and L1 is described the
The instantaneous length of one rope section, L2 are the length of second rope section, and β is the vertical deflection angle, and α is the horizontal nutation angle.
In some embodiments, further include driving the movable pulley device to move by adjusting first rope section degree to be lengthened
It is dynamic, to offset the swing of the suspension hook；
The calculation formula of the degree to be lengthened of first rope section is：
Wherein, Δ h is the degree to be lengthened of first rope section, and L1 is the instantaneous length of first rope section, and L2 is described
The length of second rope section, β are the vertical deflection angle.
The embodiment of the present invention due to using the technology described above, has the following advantages：The present invention in movable pulley due to filling
It sets and is provided with beat measuring device, therefore combine measurement and control unit and processing unit that can realize to movable pulley device and suspension hook
It swings and carries out preventing waving adjustment in real time.The present invention can realize that movable pulley device and the anti-of suspension hook wave purpose, to improve
The whole safety in utilization of crane.
Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to be limited in any way.Except foregoing description
Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the present invention is further
Aspect, embodiment and feature, which will be, to be readily apparent that.
Description of the drawings
In the accompanying drawings, unless specified otherwise herein, otherwise run through the identical reference numeral of multiple attached drawings and indicate same or analogous
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings are depicted only according to the present invention
Some disclosed embodiments, and should not serve to limit the scope of the present invention.
Fig. 1 is the overall structure diagram of the crane of the embodiment of the present invention.
Fig. 2 is the structural schematic diagram at the movable pulley device position of the crane of the embodiment of the present invention.
Fig. 3 is the flow chart of the deviation of hanging hook calibration method of the embodiment of the present invention.
Fig. 4 is the instrumentation plan of the beat measuring device of the embodiment of the present invention.
Fig. 5 is the structure diagram of the crane of the embodiment of the present invention.
Specific implementation mode
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be changed by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on ... shown in the drawings or
Position relationship is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection, can also be communication；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the interaction relationship of the connection or two elements inside two elements.For the ordinary skill in the art, may be used
To understand the concrete meaning of above-mentioned term in the present invention as the case may be.
In the present invention unless specifically defined or limited otherwise, fisrt feature the "upper" of second feature or "lower"
It may include that the first and second features are in direct contact, can also not be to be in direct contact but pass through it including the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " include first special
Sign is right over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include fisrt feature right over second feature and oblique upper, or be merely representative of
Fisrt feature level height is less than second feature.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.In order to
Simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
An embodiment of the present invention provides a kind of beats to calibrate derrick crane, as shown in Figs. 1-5, including：
Holder 1 is provided with rotatable tower arm 2 on holder 1.Moving trolley 3, moving trolley 3 are slidably connected in tower arm 2
Horizontal reciprocating movement can be carried out along tower arm 2.
Hanging mechanism 4, including the first rope section 5, the second rope section 6, movable pulley device 7 and suspension hook 8.Movable pulley device 7 is logical
It crosses the first rope section 5 to connect with moving trolley 3, the first rope section 5 drives movable pulley device 7 to carry out elevating movement.Suspension hook 8 passes through second
Rope section 6 is connect with movable pulley device 7.
Measurement and control unit 12, the sliding distance at rotational orientation angle and moving trolley 3 for measuring tower arm 2, and for controlling
Tower arm 2 processed carries out rotation and moving trolley 3 is slided.Measurement and control unit 12 can measure and record in real time current turn of tower arm 2
The dynamic current displacement distance of angle and moving trolley 3 in tower arm 2.
Beat measuring device 11 is arranged in the bottom of movable pulley device 7, and beat measuring device 11 is for measuring suspension hook 8
Beat data.
Processing unit 13 is communicated to connect with measurement and control unit 12 and beat measuring device 11, for according to beat data, tower arm
The current displacement distance of 2 current rotational angles and moving trolley 3, control tower arm 2 are rotated and are controlled moving trolley 3
It is slided, to offset waving for suspension hook 8.
In one embodiment, as shown in figure 5, beat measuring device 11 includes acquisition module 111 and computing module 112.
Acquisition module 111 be used to obtain suspension hook 8 with respect to beat measuring device 11 horizontal nutation angle α and horizontal nutation away from
From.
Computing module 112 is used to arrive the distance and horizontal nutation distance of beat measuring device 11 according to suspension hook 8, calculates and hangs
The vertical deflection angle of hook 8.
Wherein, the formula that computing module 112 calculates vertical deflection angle is：
Wherein, R is horizontal nutation distance, and L2 is the length of the second rope section 6, and β is vertical deflection angle.
In one embodiment, as shown in figure 5, processing unit 13 includes angle calculation module 131 and displacement computing module
132。
What angle calculation module 131 was used to calculate tower arm 2 waits for rotational angle.
What displacement computing module 132 was used to calculate tower arm 2 waits for sliding distance.
Wherein, the calculating of angle calculation module 131 waits for that the formula of rotational angle is：
As Δ θ ＞ 0, tower arm 2 rotates counterclockwise, and as Δ θ ＜ 0, tower arm 2 rotates clockwise；
The calculating of displacement computing module 132 waits for that the formula of sliding distance is：
As Δ ρ ＞ 0, moving trolley 3 is moved to close to the direction of holder 1, and as Δ ρ ＜ 0, moving trolley 3 is to far from holder 1
Direction movement；
Wherein, Δ θ is the rotational angle that waits for of tower arm 2, and Δ ρ is the sliding distance that waits for of moving trolley 3, and θ is that tower arm 2 is current
Rotational orientation angle, ρ are the current displacement distance of moving trolley 3, and L1 is the instantaneous length of the first rope section 5, and L2 is the second rope section 6
Length, β are vertical deflection angle, and α is horizontal nutation angle.
In one embodiment, the first rope section 5 can be one, and the first rope section 5 is after being located on movable pulley device 7, the
The both ends of one rope section 5 are connect with moving trolley 3 respectively, so that the first rope section 5 is located at the both sides of movable pulley device 7.
In one embodiment, crane further includes control unit, and movable pulley device 7 is driven for controlling the first rope section 5
And the adjustable height of suspension hook 8.The degree to be lengthened of first rope section 5 can be carried out according to the beat data of the movable pulley device 7 detected
It adjusts, auxiliary hoist carries out preventing waving regulation and control to movable pulley device 7 and suspension hook 8.
In order to ensure the accuracy measured and the anti-effect waved, vertical configuration is in the first rope section 5 and the second rope section 6
When under state, beat measuring device 11 and the center of movable pulley device 7 are located along the same line.
In one embodiment, beat measuring device 11 include indium watt round bar yardage word horizontal limb (as shown in Figure 4) and
Laser signal transmitter 9.Laser signal transmitter 9 is arranged in the second rope section 6, and indium watt round bar yardage word horizontal limb is by laser
The laser signal triggering that signal projector 9 emits, emits the table on indium watt round bar yardage word horizontal limb according to laser signal
S is pinpointed, the vertical deflection angle β and horizontal nutation angle α of suspension hook 8 are measured.
Beat measuring device 11 is influenced damage by external environment, can be filled in movable pulley in working at height in order to prevent
It sets and is nested with a protective cover (not shown) on 7, protective cover is used to protect beat measuring device 11 and movable pulley device 7, and
Protective cover will not generate interference to the movement of the first rope section 5 and the second rope section 6.
In one embodiment, it can also include GNSS (Global Satellite Navigation System, Global Navigation
Satellite System) test side 10, it is arranged at the top of movable pulley device 7, and the test sides GNSS 10 and the base stations GNSS are logical
Letter connection, the differential correcting signal for receiving navigation satellite, to obtain the flat of the beat measuring device 11 on movable pulley device 7
Areal coordinate data and altitude data, to obtain more accurate beat data.Wherein, the test sides GNSS 10 and beat measuring device
11 are oppositely arranged, and the distance between the test sides GNSS 10 and beat measuring device 11 are equal to the diameter of movable pulley device 7.
In one embodiment, warning device (not shown) can be set on movable pulley device 7, and warning device is used for
Judge whether the vertical deflection angle β of suspension hook 8 exceeds preset early warning angle.If exceeding early warning angle, send out for prompting temporarily
Stop the alarm signal of operation.Warning device is additionally operable to whether determined level deflection angle α exceeds preset early warning angle.If beyond pre-
Alert angle, then send out the alarm signal for prompting Suspend Job.Alarm device is preferably provided in the side of movable pulley device 7
Face, to ensure that operating personnel can observe alarm signal in time.
In a specific embodiment, warning device further includes the sound for sending out tweeting sound according to alarm signal
Alarm；And the visual alarm for sending out blinking light according to alarm signal.Certainly, warning device includes but not limited to
Above two alarm can also include the alarm etc. for being combined sound with light, in the protection domain of present embodiment
It is interior.
The embodiment of the present invention additionally provides a kind of deviation of hanging hook calibration method, and this method can be applied to above-mentioned any embodiment
The crane.As shown in Figs. 1-5, method includes：
Step S100：The current sliding in tower arm 2 current rotational orientation angle and moving trolley 3 is recorded by measurement and control unit 12
Distance.
Step S200：Beat measuring device 11 measures the beat data of suspension hook 8.
Step S300：According to the current sliding distance in the current rotational orientation angle of beat data, tower arm 2 and moving trolley 3,
Processing unit 13 calculate tower arm 2 wait for rotational angle and moving trolley 3 wait for sliding distance.
Step S400：It waits for rotational angle according to calculated and waits for sliding distance, measurement and control unit 12 controls tower arm 2 and carries out phase
The rotation and control moving trolley 3 answered are slided accordingly, to offset waving for suspension hook 8.
In one embodiment, beat measuring device 11 measures beat data, including measures the vertical deflection angle of suspension hook 8,
Including step：
Obtain horizontal nutation angle of the suspension hook 8 with respect to beat measuring device 11 and horizontal nutation distance.
The distance and horizontal nutation distance that beat measuring device 11 is arrived according to suspension hook 8, calculate the vertical beat of suspension hook 8
Angle.
The calculation formula at horizontal nutation angle is：
α=A；
The calculation formula at horizontal nutation angle is：
Wherein, α is horizontal nutation angle of the suspension hook 8 with respect to beat measuring device 11, and R is suspension hook 8 with respect to beat measuring device
11 horizontal nutation distance, Α are the horizontal nutation angle that beat measuring device 11 measures, and r is the water that beat measuring device 11 measures
Flat beat distance, l are the opposite beat measuring device 11 of laser signal transmitter 9 of beat measuring device 11 in the second rope section 6
Length, L2 be the second rope section 6 length.
The calculation formula of deflection angle is vertically：
Wherein, R is horizontal nutation distance, and L2 is the length of the second rope section 6, and β is vertical deflection angle.
In one embodiment, wait for that the calculation formula of rotational angle is:
As Δ θ ＞ 0, tower arm 2 rotates counterclockwise, and as Δ θ ＜ 0, tower arm 2 rotates clockwise；
Wait for that the calculation formula of sliding distance is:
As Δ ρ ＞ 0, moving trolley 3 is moved to close to the direction of holder 1, and as Δ ρ ＜ 0, moving trolley 3 is to far from holder 1
Direction movement；
Wherein, Δ θ is the rotational angle that waits for of tower arm 2, and Δ ρ is the sliding distance that waits for of moving trolley 3, and θ is that tower arm 2 is current
Rotational orientation angle, ρ are the current displacement distance of moving trolley 3, and L1 is the instantaneous length of the first rope section 5, and L2 is the second rope section 6
Length, β are vertical deflection angle, and α is horizontal nutation angle.
In one embodiment, further include driving movable pulley device 7 to move by adjusting 5 degree to be lengthened of the first rope section, with
Offset the swing of suspension hook 8：
The calculation formula of the degree to be lengthened of first rope section 5 is：
Wherein, Δ h is the degree to be lengthened of the first rope section 5, and L1 is the instantaneous length of the first rope section 5, and L2 is the second rope section 6
Length, β are vertical deflection angle.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in its various change or replacement,
These should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim
It protects subject to range.
Claims (8)
1. a kind of beat calibrates derrick crane, which is characterized in that including：
Holder is provided with tower arm on the holder, moving trolley is slidably connected in the tower arm；
Hanging mechanism, including the first rope section, the second rope section, movable pulley device and suspension hook；The movable pulley device passes through described
First rope section is connect with the moving trolley, and first rope section drives the movable pulley device to carry out elevating movement；It is described to hang
Hook is connect by second rope section with the movable pulley device；
Measurement and control unit, the sliding distance at rotational orientation angle and the moving trolley for measuring the tower arm, and for controlling
Make the tower arm carry out rotation and the moving trolley slided；
Beat measuring device is arranged in the movable pulley device bottom, the beat data for measuring the suspension hook；
Processing unit is communicated to connect with the measurement and control unit and the beat measuring device, for according to the beat data, institute
The displacement distance of the current rotational orientation angle of tower arm and the moving trolley currently is stated, the tower arm rotation is controlled
And the moving trolley sliding, to offset waving for the suspension hook.
2. crane as described in claim 1, which is characterized in that further include control unit, for controlling first rope section
Drive the adjustable height of the movable pulley device and the suspension hook.
3. crane as described in claim 1, which is characterized in that be in first rope section and second rope section vertical
When under straight state, the center and the center of the movable pulley device of the beat measuring device are located along the same line.
4. crane as described in claim 1, which is characterized in that the beat measuring device includes indium watt round bar yardage word water
Pingdu disk and laser signal transmitter.
5. a kind of beat calibration method of beat calibration tower crane lift hook, which is characterized in that be applied to the claims
1-4 any one of them cranes, the method includes：
By the measurement and control unit record the current rotational orientation angle of the tower arm and the moving trolley it is current described in
Sliding distance；
Beat measuring device measures the beat data of the suspension hook；
According to the beat data, the sliding of the current rotational orientation angle of the tower arm and the moving trolley currently
Distance, the processing unit calculate the tower arm wait for rotational angle and the moving trolley wait for sliding distance；
According to it is calculated it is described wait for rotational angle and it is described wait for sliding distance, the measurement and control unit controls the tower arm and carries out phase
The rotation and the control moving trolley answered are slided accordingly, to offset waving for the suspension hook.
6. beat calibration method as claimed in claim 5, which is characterized in that the beat measuring device measures the beat number
According to, including measure the vertical deflection angle of the suspension hook, including step：
Obtain horizontal nutation angle and the horizontal nutation distance of the relatively described beat measuring device of the suspension hook；
The calculation formula at the horizontal nutation angle is：
α=A；
The calculation formula of the horizontal nutation distance is：
Wherein, α is the horizontal nutation angle of the relatively described beat measuring device of the suspension hook, and R is that the suspension hook is relatively described
The horizontal nutation distance of beat measuring device, Α are the horizontal nutation angle that the beat measuring device measures, and r is described inclined
The horizontal nutation distance that measuring device measures is put, l is the relatively described beat of laser signal transmitter of the beat measuring device
Length of the measuring device in the second rope section, L2 are the length of second rope section；
The calculation formula of the vertical deflection angle is：
Wherein, R is the horizontal nutation distance, and L2 is the length of second rope section, and β is the vertical deflection angle.
7. beat calibration method as claimed in claim 6, which is characterized in that
It is described to wait for that the calculation formula of rotational angle is:
As Δ θ ＞ 0, the tower arm rotates counterclockwise, and as Δ θ ＜ 0, the tower arm rotates clockwise；
It is described to wait for that the calculation formula of sliding distance is:
As Δ ρ ＞ 0, the moving trolley is moved to close to the direction of the holder, and as Δ ρ ＜ 0, the moving trolley is to separate
It moves in the direction of the holder；
Wherein, Δ θ is that the described of the tower arm waits for that rotational angle, Δ ρ are that the described of the moving trolley waits for that sliding distance, θ are
The current rotational orientation angle of the tower arm, ρ are the current displacement distance of the moving trolley, and L1 is first rope
The instantaneous length of section, L2 are the length of second rope section, and β is the vertical deflection angle, and α is the horizontal nutation angle.
8. beat calibration method as claimed in claim 7, which is characterized in that further include waiting putting by adjusting first rope section
Length drives the movable pulley device movement, to offset the swing of the suspension hook；
The calculation formula of the degree to be lengthened of first rope section is：
Wherein, Δ h is the degree to be lengthened of first rope section, and L1 is the instantaneous length of first rope section, and L2 is described second
The length of rope section, β are the vertical deflection angle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810602081.0A CN108502726B (en) | 2018-06-12 | 2018-06-12 | Deflection calibration tower crane and deflection calibration method of lifting hook thereof |
| CN202010585902.1A CN111747326B (en) | 2018-06-12 | 2018-06-12 | Deflection measuring device for crane GNSS detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810602081.0A CN108502726B (en) | 2018-06-12 | 2018-06-12 | Deflection calibration tower crane and deflection calibration method of lifting hook thereof |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010585902.1A Division CN111747326B (en) | 2018-06-12 | 2018-06-12 | Deflection measuring device for crane GNSS detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108502726A true CN108502726A (en) | 2018-09-07 |
| CN108502726B CN108502726B (en) | 2020-05-19 |
Family
ID=63403320
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810602081.0A Active CN108502726B (en) | 2018-06-12 | 2018-06-12 | Deflection calibration tower crane and deflection calibration method of lifting hook thereof |
| CN202010585902.1A Active CN111747326B (en) | 2018-06-12 | 2018-06-12 | Deflection measuring device for crane GNSS detection |
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| CN109250624A (en) * | 2018-11-23 | 2019-01-22 | 新乡市豫新起重机械有限公司 | It is a kind of to wave electromagnetism docking frame equipments for goods for the anti-of crane |
| CN110954047A (en) * | 2019-11-05 | 2020-04-03 | 湖南中联重科建筑起重机械有限责任公司 | Method, device and system for measuring and calculating included angle and machine-readable storage medium |
| CN111689393A (en) * | 2020-05-21 | 2020-09-22 | 湖南中联重科建筑起重机械有限责任公司 | Method and device for calibrating position value of trolley and engineering machinery |
| CN112833822A (en) * | 2021-01-14 | 2021-05-25 | 李忠华 | Deflection measuring device for crane detection |
| CN112937770A (en) * | 2021-03-19 | 2021-06-11 | 中国舰船研究设计中心 | Recovery stabilizing system for lifting type boat collecting and releasing device |
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| CN113911915A (en) * | 2021-09-13 | 2022-01-11 | 杭州大杰智能传动科技有限公司 | Sensing Internet of things system and method for sensing abnormal lifting state of intelligent tower crane |
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| CN109250624A (en) * | 2018-11-23 | 2019-01-22 | 新乡市豫新起重机械有限公司 | It is a kind of to wave electromagnetism docking frame equipments for goods for the anti-of crane |
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| CN112937770B (en) * | 2021-03-19 | 2022-10-14 | 中国舰船研究设计中心 | Recovery stabilizing system for lifting type boat collecting and releasing device |
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| CN113682956A (en) * | 2021-07-19 | 2021-11-23 | 杭州大杰智能传动科技有限公司 | Automatic material environment condition identification and analysis method and system for intelligent tower crane |
| CN113682956B (en) * | 2021-07-19 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | Material environment condition automatic identification and analysis method and system for intelligent tower crane |
| CN113911915A (en) * | 2021-09-13 | 2022-01-11 | 杭州大杰智能传动科技有限公司 | Sensing Internet of things system and method for sensing abnormal lifting state of intelligent tower crane |
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| CN116495646A (en) * | 2023-06-28 | 2023-07-28 | 河北建工集团有限责任公司 | Building construction site safety monitoring management system |
| CN116495646B (en) * | 2023-06-28 | 2023-08-22 | 河北建工集团有限责任公司 | Building construction site safety monitoring management system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111747326A (en) | 2020-10-09 |
| CN111747326B (en) | 2022-02-08 |
| CN108502726B (en) | 2020-05-19 |
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