CN112607596B - Method and device for inhibiting swing of lifting hook of automobile crane - Google Patents
Method and device for inhibiting swing of lifting hook of automobile crane Download PDFInfo
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- CN112607596B CN112607596B CN202011489939.0A CN202011489939A CN112607596B CN 112607596 B CN112607596 B CN 112607596B CN 202011489939 A CN202011489939 A CN 202011489939A CN 112607596 B CN112607596 B CN 112607596B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000002401 inhibitory effect Effects 0.000 title claims abstract description 12
- 230000003068 static effect Effects 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 230000000452 restraining effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 230000002829 reductive effect Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract 1
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000000670 limiting effect Effects 0.000 description 2
- 230000000284 resting effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- B66C13/04—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
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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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a method for inhibiting the shaking of a crane hook of an automobile, which comprises the steps that a tension detector on the crane hook detects a static tension value F of the crane hook and feeds back the static tension value F to a crane controller; the crane operates, and the tension detector detects a dynamic tension value F1 of a crane hook and feeds back the dynamic tension value F1 to the crane controller; and the crane controller converts the swing angle alpha of the swing of the lifting hook according to the static tension value and the dynamic tension value, and the crane controller alpha controls the crane to run along the swing direction of the lifting hook. The invention also discloses a device for inhibiting the swing of the lifting hook of the automobile crane. The method and the device for inhibiting the shaking of the lifting hook of the automobile crane disclosed by the invention realize that the shaking degree of the heavy object can be monitored in real time without adding additional control equipment, the lifting hook of the crane is controlled in real time by monitoring the shaking degree of the heavy object, the shaking degree of the heavy object is reduced to the greatest extent by adopting a following mode, and the effect of inhibiting the shaking amplitude of the lifting hook is good.
Description
Technical Field
The invention relates to the technical field of cranes, in particular to a method and a device for inhibiting shaking of a lifting hook of an automobile crane.
Background
The moment display system of the existing automobile crane can safely monitor the lifted weight in real time, monitor the tensile force born by the steel wire rope in real time and ensure the safe operation of the crane.
In the prior art, a mechanical limiting device or a swing angle sensor is added to inhibit the swing of the crane. The principle of the mechanical limiting device is mainly to reduce the shaking stroke of the lifting hook by increasing damping during movement. The swing sensor is used for controlling the swing stroke by monitoring the swing angle and utilizing the motor controller.
Disclosure of Invention
In order to solve the above technical problems, it is desirable to provide a method and a device for suppressing the swing of a crane hook of an automobile, which convert the swing angle of the crane hook by detecting a static tension value and a dynamic tension value through a tension detector and reduce the swing degree of a weight in a following manner according to the direction of the swing angle.
The technical scheme of the invention is realized as follows:
a method for inhibiting the shaking of a lifting hook of an automobile crane comprises the following steps:
step S1, a tension detector on a crane hook detects a static tension value F in a static state of the crane hook, and feeds the static tension value F back to a crane controller;
step S2, the crane runs, the lifting hook swings, the tension detector detects a dynamic tension value F1 under the movement state of the lifting hook of the crane, and the detected dynamic tension value F1 is fed back to the crane controller;
step S3, the crane controller converts the swing angle a of the lifting hook swing according to the static tension value F and the dynamic tension value F1, and the crane controller controls the crane to travel along the swing direction of the lifting hook according to the angle of the swing angle a so as to reduce the swing degree of the heavy object.
Preferably, the tension detector detects a dynamic tension value under the motion state of the crane hook and feeds the detected dynamic tension value back to the crane controller, and the method comprises the following steps that when the dynamic tension value detected by the tension detector is smaller than or equal to a preset dynamic tension value, the tension detector does not send a signal to the crane controller; when the dynamic tension value detected by the tension detector is larger than a preset dynamic tension value, the tension detector sends a signal to the crane controller.
Preferably, the method further comprises step S0, before the crane is started and not running, the tension detector firstly extracts whether the tension value on the crane hook in a preset time period changes, if not, the crane is judged to be static, and step S1 is implemented at the same time; and if so, judging that the crane hook is dynamic, and continuously detecting until the tension value on the crane hook within the extracted preset time period is a constant value.
Preferably, the relation between the swing angle alpha and the object gravity G and the dynamic tension value F1 is as follows:
since G=F, therefore->
Preferably, the crane runs along the shaking direction of the lifting hook, and the method comprises the following steps:
when the swing of the lifting hook is maximum, the swing angle alpha reaches the maximum value, and the crane controller controls the crane to accelerate towards the side direction of the lifting hook so as to offset the swing angle of the lifting hook; when the lifting hook swings to the highest position in the other direction, the controller controls the crane to accelerate towards the side direction of the lifting hook at the moment, and the crane accelerates to offset the swing angle of the lifting weight;
the crane hook continues to swing, and the steps are repeated until the hook stops swinging.
Preferably, the method for determining that the swing angle a reaches the maximum value is as follows: the tension detector detects that the next dynamic tension value F1 is larger than the maximum dynamic tension value F1 in the detection process, and the lifting hook reaches the highest position in one swinging period.
Preferably, the crane comprises a tension detector and a crane controller, wherein the tension detector is arranged on a lifting hook of the crane, the tension detector is connected with the crane controller and used for transmitting detection signals to the crane controller, and the crane controller controls the crane to run along the swinging direction of the lifting hook according to feedback signals.
Preferably, the crane controller comprises a torque limiter host, a control unit and an execution unit which are in communication connection, the tension detector is connected with the torque limiter to transmit detection signals to the torque limiter, the torque limiter transmits data to the control unit, and the control unit controls the execution unit to move according to feedback data.
Preferably, the tension detector is a force sensor.
Preferably, the control unit is a PLC control unit.
According to the method and the device for restraining the shaking of the lifting hook of the automobile crane, the static tension value on the lifting hook is detected through the tension detector, and then the swinging angle of the lifting hook is obtained through mathematical conversion with the dynamic tension value detected by movement, so that the automobile crane is controlled to reduce the shaking degree of the heavy object in a following mode.
Drawings
FIG. 1 is a flow chart of a method for suppressing the shaking of a crane hook of an automobile provided by the invention;
FIG. 2 is a schematic drawing of the tension force of the hook in a resting state;
FIG. 3 is a diagram showing the tension of the hook in a rocking state;
fig. 4 is a view showing a device for suppressing the shaking of a crane hook of an automobile.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-3, fig. 1 is a flowchart of a method for suppressing swing of a crane hook of an automobile according to the present invention; FIG. 2 is a schematic drawing of the tension force of the hook in a resting state; fig. 3 is a schematic drawing of the tension in the swinging state of the hook. The method for inhibiting the shaking of the lifting hook of the automobile crane comprises the following steps:
step S1, a tension detector 3 on an automobile crane hook 1 detects a static tension value F of the crane hook 1 in a static state, and feeds the static tension value F back to a crane controller 5;
step S2, the automobile crane runs, the lifting hook 1 swings, the tension detector 3 detects a dynamic tension value F1 under the movement state of the lifting hook 1 of the crane, and the detected dynamic tension value is fed back to the crane controller 5;
step S3, the crane controller converts a swinging angle a of the lifting hook 1 to swing according to the static tension value F and the dynamic tension value F1, and the crane controller controls the crane to travel along the swinging direction of the lifting hook 1 according to the angle of the swinging angle a so as to reduce the swinging degree of the heavy object.
According to the invention, the static tension value on the lifting hook 1 is detected through the tension detector 3, and the swing angle of the lifting hook 1 is obtained through mathematical conversion with the dynamic tension value detected by motion, so that the crane is controlled to reduce the swinging degree of the weight in a following mode, and the swinging degree of the weight is detected through detecting the tension value of the lifting hook 1 suspending the weight instead of being directly measured through the angle sensor, so that the purpose of real-time monitoring the swinging degree of the weight without adding additional control equipment is realized on the automobile crane, the lifting hook 1 of the automobile crane is controlled in real time through monitoring the swinging degree of the weight, the swinging degree of the weight is reduced to the greatest extent in a following mode, the swinging degree of the lifting hook 1 is well inhibited, and the operation safety of the automobile crane is effectively improved.
Step S0, before the automobile crane is started and does not run, the tension detector 3 firstly extracts whether the tension value on the crane hook 1 in a preset time period changes, if not, the crane hook 1 is judged to be static, and step S1 is implemented at the same time; and if so, judging that the crane hook 1 is dynamic, and continuously detecting until the tension value on the crane hook 1 in the extracted preset time period is a constant value, and judging the tension value for a preset time period to reliably obtain the static tension value of the crane hook 1.
The tension detector 3 detects a dynamic tension value F1 under the motion state of the crane hook 1 and feeds the detected dynamic tension value back to the crane controller, and the method comprises the following steps that when the dynamic tension value detected by the tension detector 3 is smaller than or equal to a preset dynamic tension value, the tension detector 3 does not send a signal to the crane controller; when the dynamic tension value detected by the tension detector 3 is greater than a preset dynamic tension value, the tension detector 3 sends a signal to the crane controller, and the working efficiency is improved by firstly screening and pre-judging the magnitude of the dynamic tension value by the tension detector 3, so that the tension detector 3 is prevented from continuously sending the signal to the crane controller 5.
The relation between the swing angle alpha and the object gravity G and the dynamic tension value F1 is as follows:
since g=f, the relationship between the swing angle α and the object gravity G and the static tension value F is: />
The automobile crane runs along the shaking direction of the lifting hook 1, and comprises the following steps:
when the swing angle alpha reaches the maximum value, the crane controller 5 controls the crane to accelerate towards the side direction of the lifting hook 1 to offset the swing angle of the lifting hook 1; when the lifting hook 1 swings to the highest position in the other direction, the controller controls the crane to accelerate towards the side direction of the lifting hook 1 at the moment, and the crane accelerates to offset the swing angle of the lifting weight; the crane hook 1 continues to swing, and the steps are repeated until the hook 1 stops swinging. The crane can inhibit the swinging of the lifting hook 1 by following the swinging of the lifting hook 1, so that the swinging time of the lifting weight is effectively reduced, the safety and reliability of the working environment are improved, and the operation time and fatigue degree of crane operators are reduced.
Specifically, the method for determining that the swing angle α reaches the maximum value is as follows: the tension detector 3 detects that the next dynamic tension value F1 is larger than the maximum dynamic tension value F1 in the detection process, and then the lifting hook 1 reaches the highest position in one swinging period, so that the swinging of the lifting hook weight can be effectively controlled even if the external disturbance exists, and the reliability is high.
Referring to fig. 4, the device for suppressing the swing of the hook of the truck crane provided by the invention is shown. The invention provides a device for inhibiting shaking of an automobile crane lifting hook 1, which comprises a tension detector 3 and a crane controller, wherein the tension detector 3 is arranged on the lifting hook 1 of a crane, the tension detector 3 is connected with the crane controller and is used for transmitting a detection signal to the crane controller, and the crane controller controls the crane to run along the shaking direction of the lifting hook 1 according to a feedback signal.
The crane controller is an original control system of the crane and comprises a torque limiter host, a control unit and an execution unit which are in communication connection, the tension detector 3 is connected with the torque limiter to transmit a detection signal to the torque limiter, the torque limiter transmits data to the control unit, and the control unit controls the execution unit to move according to feedback data. The moment limiter host is a moment limiter of the crane.
Specifically, in this embodiment, the tension detector 3 is a force sensor. The tension detector 3 is an original tension sensor in a moment controller system in hoisting, and the control unit is a PLC control unit.
According to the method and the device for restraining the shaking of the lifting hook of the automobile crane, the static tension value on the lifting hook is detected through the tension detector, and then the swinging angle of the lifting hook is obtained through mathematical conversion with the dynamic tension value detected by movement, so that the automobile crane is controlled to reduce the shaking degree of the heavy object in a following mode.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A method for inhibiting the sway of a crane hook of an automobile, comprising the steps of:
step S1, a tension detector on a crane hook detects a static tension value F in a static state of the crane hook, and feeds the static tension value F back to a crane controller;
step S2, the crane runs, the lifting hook swings, the tension detector detects a dynamic tension value F1 under the movement state of the lifting hook of the crane, and the detected dynamic tension value F1 is fed back to the crane controller;
step S3, the crane controller converts a swinging angle alpha of the swinging of the lifting hook according to the static tension value F and the dynamic tension value F1, and the crane controller controls the crane to run along the swinging direction of the lifting hook according to the angle of the swinging angle alpha so as to reduce the swinging degree of the heavy object;
the tension detector detects a dynamic tension value under the motion state of the crane hook and feeds the detected dynamic tension value back to the crane controller, and the method comprises the following steps that when the dynamic tension value detected by the tension detector is smaller than or equal to a preset dynamic tension value, the tension detector does not send a signal to the crane controller; when the dynamic tension value detected by the tension detector is larger than a preset dynamic tension value, the tension detector sends a signal to the crane controller;
the method comprises the steps that S0, before the crane is started and does not run, the tension detector firstly extracts whether the tension value on the crane hook in a preset time period changes, if not, the crane is judged to be static, and step S1 is implemented simultaneously; and if so, judging that the crane hook is dynamic, and continuously detecting until the tension value on the crane hook within the extracted preset time period is a constant value.
2. The method for restraining shaking of a crane hook according to claim 1, wherein the relation between the swing angle α and the object gravity G and the dynamic tension value F1 is:
since g=f, therefore->
。
3. Method for suppressing the sway of a crane hook of a truck according to claim 2, characterized in that the crane follows the sway direction of the hook, comprising the steps of:
when the swing of the lifting hook is maximum, the swing angle alpha reaches the maximum value, and the crane controller controls the crane to accelerate towards the side direction of the lifting hook so as to offset the swing angle of the lifting hook; when the lifting hook swings to the highest position in the other direction, the controller controls the crane to accelerate towards the side direction of the lifting hook at the moment, and the crane accelerates to offset the swing angle of the lifting weight;
the crane hook continues to swing, and the steps are repeated until the hook stops swinging.
4. A method for suppressing swing of a crane hook according to claim 3, wherein the method for determining that the swing angle α reaches the maximum value is: the tension detector detects that the next dynamic tension value F1 is larger than the maximum dynamic tension value F1 in the detection process, and the lifting hook reaches the highest position in one swinging period.
5. A device for inhibiting the shaking of a crane hook of an automobile by adopting the method as claimed in any one of claims 1 to 4, comprising a tension detector and a crane controller, wherein the tension detector is arranged on the crane hook, the tension detector is connected with the crane controller and is used for transmitting a detection signal to the crane controller, and the crane controller controls a crane to run along the shaking direction of the hook according to a feedback signal.
6. The device for suppressing vibration of a crane hook according to claim 5, wherein the crane controller comprises a torque limiter host, a control unit and an execution unit which are in communication connection, the tension detector is connected with the torque limiter to transmit a detection signal to the torque limiter, the torque limiter transmits data to the control unit, and the control unit controls the execution unit to move according to feedback data.
7. The apparatus for suppressing vibration of a crane hook of a truck as defined in claim 6 wherein said tension detector is a force sensor.
8. The device for suppressing the rattle of a crane hook according to claim 6, wherein the control unit is a PLC control unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011489939.0A CN112607596B (en) | 2020-12-16 | 2020-12-16 | Method and device for inhibiting swing of lifting hook of automobile crane |
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| CN202011489939.0A CN112607596B (en) | 2020-12-16 | 2020-12-16 | Method and device for inhibiting swing of lifting hook of automobile crane |
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| CN112607596B true CN112607596B (en) | 2023-05-09 |
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| CN114879752A (en) * | 2022-05-16 | 2022-08-09 | 乐歌人体工学科技股份有限公司 | Rack, control method and control device for rack level and storage medium |
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