CN113753748A - Lifting appliance upper frame anchoring device, control method, controller and crane - Google Patents
Lifting appliance upper frame anchoring device, control method, controller and crane Download PDFInfo
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- CN113753748A CN113753748A CN202111075979.5A CN202111075979A CN113753748A CN 113753748 A CN113753748 A CN 113753748A CN 202111075979 A CN202111075979 A CN 202111075979A CN 113753748 A CN113753748 A CN 113753748A
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- frame
- positioning
- anchoring device
- anchoring
- spreader
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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
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/10—Undercarriages or bogies, e.g. end carriages, end bogies
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
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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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- 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)
- Load-Engaging Elements For Cranes (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The application provides a lifting appliance upper frame anchoring device, a control method, a controller and a crane. The positioning assembly is utilized to drive the positioning frame to move to the position of the upper hanger frame in the horizontal direction, after the positioning frame and the upper hanger frame are aligned in the vertical direction, the upper hanger frame is lifted to the positioning frame, and the upper hanger frame is anchored in the positioning frame by the automatic anchoring device. The position of the positioning frame is adjusted, so that the positioning frame can be aligned with the upper frame of the lifting appliance in the vertical direction, the difficulty that the upper frame of the lifting appliance accurately enters the anchoring position when being lifted is reduced, the anchoring time is saved, the operation efficiency is improved, the stability of the upper frame of the lifting appliance in the positioning frame is improved through the anchoring of the automatic anchoring device, and the occurrence probability of accidents is reduced.
Description
Technical Field
The application relates to the field of engineering machinery, in particular to a lifting appliance upper frame anchoring device, a control method, a controller and a crane.
Background
The crane sling upper frame anchoring device is a safety device arranged for preventing the crane from encountering extreme weather in a non-working state and moving along the linear direction of a track. The traditional double-hanger upper frame anchoring mode is characterized in that an upper frame positioning support, a guide support and an anchoring hole are welded and fixed below a trolley frame, a guide impact bar with a roller is arranged on the hanger upper frame, when the hanger upper frame is anchored upwards, the guide impact bar of the hanger upper frame can roll upwards along the guide support, the hanger upper frame integrally enters the positioning support, the impact bar enters the anchoring hole, a lifting steel wire rope is tensioned, and anchoring action is completed.
However, in the practical application process, because the position difference exists between the upper hanger frame and the positioning support, the upper hanger frame is difficult to be directly guided into the positioning support, the anchoring process of the upper hanger frame is relatively laborious, and generally, the upper hanger frame is anchored only by the friction force between the telescopic oil cylinder and the anchoring seat after the anchoring is completed, so that the safety is relatively low.
Disclosure of Invention
In view of this, the application provides a spreader upper frame anchoring device, a control method, a controller and a crane, and solves the technical problems that in the prior art, a position difference exists between a spreader upper frame and a positioning frame, an anchoring process is labor-consuming, and stability after anchoring is low.
According to one aspect of the present application, there is provided a spreader upper frame anchoring device comprising: the positioning frame is arranged between a trolley frame and a lifting appliance upper frame of the crane; the positioning assembly is connected with the positioning frame and drives the positioning frame to move along the horizontal direction; the automatic anchoring device is connected in the positioning frame and is used for anchoring the hanger upper frame and the positioning frame; and the upper hanger frame is lifted into the positioning frame through a lifting device of the crane.
In one embodiment, the self-anchoring device comprises: an anchoring pin rotatably connected in the positioning frame; the inner driving assembly is rotatably connected with the anchoring pin and drives the anchoring pin to extend out of the positioning frame or retract into the positioning frame; and an anchor pin detection switch group arranged on the positioning frame and used for detecting the position of the anchor pin; and the anchoring pin extends out of the positioning frame and is inserted into the upper hanger frame to be abutted against the upper hanger frame under the driving of the internal driving assembly.
In one embodiment, the self-anchoring device further comprises: be fixed in the joint spare of locating rack, the joint spare with anchor round pin joint cooperation.
In one embodiment, the anchor pin detection switch set includes: an anchoring pin return detection switch arranged on the positioning frame; and an anchor pin drop position detection switch disposed on the positioning frame.
In one embodiment, the spreader upper frame anchoring device further comprises: the lifting appliance upper frame falling position detection switch is arranged on the positioning frame and used for detecting the position of the lifting appliance upper frame.
In one embodiment, the anchor pin detection switch set is a proximity switch; and/or the lifting appliance upper frame detection switch is a proximity switch.
In one embodiment, the positioning assembly comprises: the first end of each connecting rod is hinged with the trolley frame, and the second end of each connecting rod is hinged with the top of the positioning frame; the first end of the first hydraulic push rod is hinged with the trolley frame, and the second end of the first hydraulic push rod is hinged with the second end of one of the connecting rods; the first hydraulic push rod drives the connecting rod to rotate relative to the trolley frame and the positioning frame so as to drive the positioning frame to reciprocate in the horizontal direction.
In one embodiment, the inner drive assembly includes a second hydraulic ram.
In one embodiment, the spacer includes: a cross bar connected with the positioning component; and the two vertical rods are respectively and rotatably connected to the two ends of the cross rod and always face the direction of the upper frame of the lifting appliance.
According to a second aspect of the present application, there is provided a method for controlling an upper rack anchoring device of a spreader, which is applied to the upper rack anchoring device of the spreader according to the above embodiment, including: controlling a positioning assembly to drive a positioning frame so that the positioning frame is aligned with the upper hanger frame; controlling a lifting device to lift the upper hanger frame, so that the upper hanger frame enters the positioning frame; acquiring the position information of the upper frame of the lifting appliance; and generating a control command according to the position information of the upper hanger frame, and transmitting the control command to the upper hanger frame anchoring device, wherein the control command is used for controlling the positioning assembly and the automatic anchoring device to anchor the positioning frame and the upper hanger frame.
In one embodiment, the self-anchoring device comprises: an anchor pin connected to the inside of the spacer; the anchor pin detection switch group is arranged on the positioning frame and used for detecting the position of the anchor pin, and the anchor pin detection switch group comprises an anchor pin return detection switch arranged on the positioning frame and an anchor pin falling detection switch arranged on the positioning frame; the inner driving assembly is connected with the anchoring pin and drives the anchoring pin to extend out of the positioning frame or retract into the positioning frame; the spreader racking anchoring device further comprises: the lifting appliance upper frame falling position detection switch is arranged on the positioning frame and used for detecting the position of the lifting appliance upper frame; the acquiring of the position information of the upper hanger frame comprises the following steps: acquiring the position information of the upper hanger according to the sensing information of the upper hanger falling position detection switch; generating a control instruction according to the position information of the upper hanger frame, wherein the control information is used for controlling the outer driving assembly and the automatic anchoring device to anchor the positioning frame and the upper hanger frame, and the control method comprises the following steps: when the sensing information of the lifting appliance upper frame falling position detection switch is switch triggering information, generating a first control instruction and a second control instruction, wherein the first control instruction is used for controlling the positioning assembly to drive the positioning frame to move to an initial position, and the second control instruction is used for controlling the internal driving assembly to drive the anchoring pin to extend out of the positioning frame and be inserted into the lifting appliance upper frame; and acquiring the induction information of the anchor pin falling position detection switch, and generating a third control instruction when the induction information of the anchor pin falling position detection switch is switch trigger information, wherein the third control instruction is used for controlling the lifting device to stop working.
According to a third aspect of the present application, there is provided a controller for performing the method of controlling a spreader loading anchoring device described in the above embodiments, comprising: the positioning component control module is used for controlling the positioning component; the hoisting device control module is used for controlling a hoisting device of the crane; the position information acquisition module is used for acquiring the position information of the upper frame of the lifting appliance; and the control instruction generation module is used for generating a control instruction, and the control instruction is used for controlling the positioning assembly and the automatic anchoring device to anchor the positioning frame and the hanger upper frame.
According to a fourth aspect of the present application, there is provided a crane comprising: a trolley frame; putting a lifting appliance on a frame; the lifting device is connected with the upper frame of the lifting appliance; in the spreader upper frame anchoring device in the above embodiment, the spreader upper frame anchoring device is connected between the trolley frame and the spreader upper frame; and the controller in the above embodiment, the controller is electrically connected to the spreader upper frame anchoring device, and the controller is electrically connected to the hoisting device.
The application provides a hoist and puts up anchoring device includes the locating rack that is used for fixing a position and restricts the hoist and puts up, is used for driving the locating component that the locating rack removed and is used for the automatic anchoring device of anchoring the hoist and putting up. When the upper hanger frame needs to be anchored in the positioning frame, the positioning assembly is firstly utilized to drive the positioning frame to move to the position of the upper hanger frame in the horizontal direction, after the positioning frame and the upper hanger frame are aligned in the vertical direction, the upper hanger frame is lifted to the positioning frame by virtue of a lifting device of a crane, and finally the upper hanger frame is anchored in the positioning frame by an automatic anchoring device. The position of the positioning frame is adjusted, so that the positioning frame can be aligned with the upper frame of the lifting appliance in the vertical direction, the difficulty that the upper frame of the lifting appliance accurately enters the anchoring position when being lifted is reduced, the anchoring time is saved, the operation efficiency is improved, the stability of the upper frame of the lifting appliance in the positioning frame is improved through the anchoring of the automatic anchoring device, and the occurrence probability of accidents is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a spreader upper frame anchoring device according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a spreader upper frame anchoring device according to another embodiment of the present application.
Fig. 3 is a schematic structural view of a spreader upper frame anchoring device and a spreader upper frame aligned according to another embodiment of the present application.
Fig. 4 is a schematic structural diagram of a spreader upper frame anchoring device according to another embodiment of the present application.
Fig. 5 is a partially enlarged view of a spreader upper frame anchoring device according to another embodiment of the present application, which is used for embodying the point a in fig. 4.
Fig. 6 is a schematic structural diagram of an automatic anchoring device in a spreader racking anchoring device according to another embodiment of the present application.
Fig. 7 is a schematic structural diagram illustrating a state after a spreader upper frame is in a falling position in a spreader upper frame anchoring device according to another embodiment of the present application.
Fig. 8 is a schematic flow chart illustrating a method for controlling an upper frame anchoring device of a spreader according to another embodiment of the present application.
Fig. 9 is a schematic flow chart illustrating a method for controlling an upper frame anchoring device of a spreader according to another embodiment of the present application.
Fig. 10 is a schematic structural diagram of a controller according to another embodiment of the present application.
Fig. 11 is a schematic structural diagram of an electronic device according to another embodiment of the present application.
Description of reference numerals: 1. a trolley frame; 10. a hoisting device; 2. putting a lifting appliance on a frame; 3. a positioning frame; 4. a positioning assembly; 41. a first hydraulic push rod; 42. a connecting rod; 5. an automatic anchoring device; 51. an anchor pin; 521. a second hydraulic push rod; 53. a clamping piece; 541. an anchor pin return detection switch; 542. an anchor pin drop detection switch; 6. a lifting appliance upper frame falling position detection switch; 600. an electronic device; 601. a processor; 602. a memory; 603. an input device; 604. an output device; 700. a controller; 701. a positioning assembly control module; 702. a hoisting device control module; 703. a position information acquisition module; 704. and a control instruction generation module.
Detailed Description
In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indicators in the embodiments of the present application (such as upper, lower, left, right, front, rear, top, bottom … …) are only used to explain the relative positional relationship between the components, the movement, etc. in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic structural diagram of a spreader upper frame anchoring device according to an embodiment of the present application. As shown in fig. 1, the anchoring device for the upper hanger frame is used for anchoring a trolley frame 1 and an upper hanger frame 2 of a crane, and specifically comprises a positioning frame 3, a positioning assembly 4 and an automatic anchoring device 5. The positioning frame 3 is of a support structure with an opening, the opening faces the direction of the upper hanger frame 2 and is used for providing a space for anchoring the upper hanger frame 2 in the positioning frame 3, the positioning frame 3 is arranged between the trolley frame 1 of the crane and the upper hanger frame 2 and is used for being in anchoring fit with the upper hanger frame 2, the probability that the upper hanger frame 2 moves along the linear direction of the rail in extreme weather or in a non-working state is reduced, and safety accidents are reduced. Positioning element 4 is connected with locating rack 3, this positioning element 4 drive locating rack 3 moves along horizontal direction X for locating rack 3 can move on horizontal direction X relatively hoist upper bracket 2, because there is the position deviation L of horizontal direction between hoist upper bracket 2 and the locating rack 3, consequently the aforesaid can make locating rack 3 align with hoist upper bracket 2 on vertical direction Y to hoist upper bracket 2's removal to hoist upper bracket 2, and then eliminate position deviation L, be convenient for follow-up anchor hoist upper bracket 2 and locating rack 3. An automatic anchoring device 5 is connected within the spacer 3 for anchoring the spreader upper frame 2 so that the spreader upper frame 2 is firmly anchored in the spacer 3. In addition, after the positioning frame 3 is aligned with the upper hanger frame 2 under the driving of the positioning component 4, the upper hanger frame 2 is lifted into the positioning frame 3 through a lifting device 10 of the crane and then is anchored by the automatic anchoring device 5.
It should be noted that the number of the automatic anchoring devices 5 may be two or more, and two automatic anchoring devices 5 may anchor the spreader upper frame 2, and the device cost is saved; the plurality of automatic anchoring devices 5 can further improve the anchoring stability of the spreader upper frame 2, but the cost is increased, so the specific number of the automatic anchoring devices 5 is determined according to the specific implementation scenario, and the application does not further limit the number of the automatic anchoring devices 5.
The application provides a hoist upper frame anchoring device, which comprises a positioning frame 3 for positioning and limiting a hoist upper frame 2, a positioning assembly 4 for driving the positioning frame 3 to move and an automatic anchoring device 5 for anchoring the hoist upper frame 2. When the upper hanger frame 2 needs to be anchored in the positioning frame 3, the positioning frame 3 is driven by the positioning component 4 to move to the position of the upper hanger frame 2 in the horizontal direction X, after the positioning frame 3 and the upper hanger frame 2 are aligned in the vertical direction Y, the upper hanger frame 2 is lifted to the positioning frame 3 by the aid of the lifting device 10 of the crane, and finally, the upper hanger frame 2 is anchored in the positioning frame 3 by the automatic anchoring device 5. This kind of hoist upper rack anchoring device makes locating rack 3 carry out the counterpoint on the vertical direction Y with hoist upper rack 2 earlier through the position of adjustment locating rack 3, has reduced hoist upper rack 2 and has risen the degree of difficulty that the accuracy got into the anchoring position, saves anchoring time, improves the operating efficiency, and has improved the stability of hoist upper rack 2 in locating rack 3 through the anchoring of automatic anchoring device 5, has reduced the probability of appearing of accident.
Specifically, fig. 2 is a schematic structural diagram of a spreader upper frame anchoring device according to another embodiment of the present application. As shown in fig. 2, the positioning assembly 4 of the anchor device for the upper frame of the spreader specifically includes a first hydraulic push rod 41 and two connecting rods 42. Two connecting rods 42 are connected between the positioning frame 3 and the trolley frame 1, the first end of each connecting rod 42 is hinged with the trolley frame 1, and the second end of each connecting rod 42 is hinged with the top of the positioning frame 3. Thus, the two links 42, the positioning frame 3 and the trolley frame 1 together form a four-bar linkage mechanism, which can keep the positioning frame 3 to the maximum extent to keep the opening downward without swinging along with external force when the four-bar linkage mechanism is driven by external force. In addition, the first end of the first hydraulic push rod 41 is hinged to the trolley frame 1, the second end of the first hydraulic push rod 41 is hinged to the second end of one of the two connecting rods 42, the first hydraulic push rod 41 drives the connecting rod 42 to rotate relative to the trolley frame 1 and the positioning frame 3 so as to drive the positioning frame 3 at the tail end of the connecting rod 42 to move in a reciprocating mode in the horizontal direction X, and therefore the positioning frame 3 can be aligned with the lower upper hanger frame 2 in the vertical direction Y, and the difficulty that the upper hanger frame 2 enters an accurate anchoring position after being lifted by the lifting device 10 is reduced. Fig. 3 is a schematic structural view of a spreader upper frame anchoring device and a spreader upper frame aligned according to another embodiment of the present application. As shown in fig. 3, when the positioning frame 3 is pushed by the four-bar linkage to move horizontally to align with the upper frame 2 of the lifting appliance, the position deviation L is eliminated, so that the upper frame 2 of the lifting appliance can smoothly enter the positioning frame 3, and the operation efficiency of the anchoring process is improved.
In addition, fig. 4 is a schematic structural diagram of a spreader upper frame anchoring device according to another embodiment of the present application. As shown in fig. 4, after the spreader upper frame 2 and the positioning frame 3 are aligned, the spreader upper frame enters the positioning frame 3 under the lifting force of the lifting device 10, and the subsequent anchoring operation is continued after the lifting is completed.
In a possible implementation manner, fig. 5 is a partial enlarged view of a portion a in fig. 4 according to another embodiment of the present application. As shown in fig. 5, the automatic anchoring device 5 of the sling upper rack anchoring device further comprises an anchoring pin 51 rotatably connected in the positioning rack 3, an inner driving assembly rotatably connected with the anchoring pin 51, and an anchoring pin detection switch set provided on the positioning rack 3. The anchoring pin 51 is used for anchoring and matching with the upper hanger frame 2 in the positioning frame 3, when the upper hanger frame 2 does not enter the positioning frame 3, the anchoring pin 51 is contracted in the positioning frame 3, and when the upper hanger frame 2 enters the positioning frame 3, the anchoring pin 51 extends out of the positioning frame 3 and is in butt fit with the upper hanger frame 2 to realize anchoring; the inner driving component drives the anchor pin 51, so that the anchor pin 51 can rotate relative to the positioning frame 3, and the anchor pin 51 can extend out of the positioning frame 3 or retract into the positioning frame 3; and finally, the anchoring pin detection switch group is used for detecting the position of the anchoring pin 51, and sending a sensing signal to an operator or a control system through the sensing action of the anchoring pin detection switch group, so that the operator or the control system can acquire the position information of the anchoring pin 51 and further correspondingly execute the next operation, the automation degree of the working process of the lifting appliance upper frame anchoring device is improved, and the reliability of the lifting appliance upper frame 2 anchoring is further improved.
Specifically, as shown in fig. 5, this kind of automatic anchoring device 5 of hoist upper frame anchoring device further includes the joint piece 53 that is fixed in locating rack 3, this joint piece 53 carries out the joint cooperation with anchor pin 51, play limiting displacement to anchor pin 51's rotation, it is difficult to play anchoring displacement to hoist upper frame 2 after preventing anchor pin 51 from excessively rotating, simultaneously when anchor pin 51 and joint piece 53 carry out the joint conflict cooperation, anchor pin 51 stretches out locating rack 3 and inserts in hoist upper frame 2 under drive assembly's drive, its one side that deviates from joint piece 53 and hoist upper frame 2 butt, so anchor pin 51's below receives the supporting role of joint piece 53, anchor pin 51's top can carry out the anchor joint to hoist upper frame 2 fixed, improve the stability of hoist upper frame 2 in locating rack 3.
It should be noted that the clip 53 in the above embodiments may be a plate-shaped structure or a block-shaped structure, and the application does not further limit the specific implementation structure of the clip 53 depending on the specific implementation scenario.
Alternatively, fig. 6 is a schematic structural diagram of an automatic anchoring device in a spreader racking anchoring device according to another embodiment of the present application. As shown in fig. 6, the inner driving assembly includes a second hydraulic ram 521, a first end of the second hydraulic ram 521 is hinged to the positioning frame 3, a second end of the second hydraulic ram 521 is hinged to the anchor pin 51, and a second end of the second hydraulic ram 521 is a telescopic end. The anchor pin 51 is driven by the second hydraulic push rod 521 to move relative to the positioning frame 3, so that the anchor pin 51 retracts or extends, and further the upper hanger 2 is anchored.
Specifically, as shown in fig. 6, the anchor pin detection switch set of the upper rack anchor device for the spreader may include an anchor pin return detection switch 541 and an anchor pin fall detection switch 542 both connected to the positioning rack 3, wherein the anchor pin return detection switch 541 is configured to detect a retracted state of the anchor pin 51, and is disposed in the positioning rack 3, when the anchor pin 51 is retracted in the positioning rack 3 by driving of the second hydraulic push rod 521, a pin body of the anchor pin approaches the anchor pin return detection switch 541, so as to trigger the anchor pin return detection switch 541, and the anchor pin return detection switch 541 transmits a return signal of the anchor pin 51 to an operator or a control system, so that the operator or the control system obtains a current state of the anchor pin 51 and performs a next operation. Similarly, the anchor pin falling position detection switch 542 is also installed on the positioning frame 3 for detecting whether the anchor pin 51 protrudes out of the positioning frame 3, when the anchor pin 51 protrudes out of the positioning frame 3, the anchor pin 51 approaches the position of the anchor pin falling position detection switch 542, and the anchor pin falling position detection switch 542 is triggered, so that the anchor pin falling position detection switch 542 generates a falling position signal and transmits the signal to an operator or a control system, and the operator or the control system continues to perform the next operation after acquiring the falling position signal of the anchor pin 51. The above-mentioned process is through the detection to anchor pin 51 state of anchor pin detection switch group to the corresponding signal of telecommunication that generates transmits, makes the anchoring process need not the manual observation and can carry out the correct operation, has improved the degree of automation of device, and then has improved the operating efficiency.
Fig. 7 is a schematic structural diagram illustrating a state after a spreader upper frame is in a falling position in a spreader upper frame anchoring device according to another embodiment of the present application. As shown in fig. 6 and 7, the anchor pin 51 is pushed by the second hydraulic push rod 521 to extend out of the positioning frame 3 and be inserted into the upper hanger frame 2, when the anchor pin 51 moves to abut against the clamping member 53, the anchor pin is limited, and then the anchor pin does not move continuously and is clamped and fixed with the clamping member 53 at the position, and one side of the anchor pin 51 departing from the clamping member 53 abuts against the upper hanger frame 2, so that the anchor pin can anchor the upper hanger frame 2. As shown in fig. 7, when the anchor pin drop position detection switch 542 detects that the anchor pin 51 has been anchored in the hoist upper frame 2, the hoist 6 stops operating, the external force applied to the hoist upper frame 2 is removed, the hoist upper frame 2 is anchored in the positioning frame 3 by the force acting between the hoist upper frame 2 and the anchor pin 51, and the anchoring process of the hoist upper frame 2 is completed.
In a possible implementation manner, as shown in fig. 6 and 7, the device for anchoring an upper hanger frame may further include a switch 6 for detecting a falling position of the upper hanger frame 6, where the switch 6 is disposed inside the opening of the positioning frame 3 for detecting a falling position of the upper hanger frame 2 inside the opening of the positioning frame 3. In the process that the lifting appliance upper frame 2 is driven by the lifting device 10 to lift to the opening of the positioning frame 3, the lifting appliance upper frame 2 is continuously close to the lifting appliance upper frame falling position detection switch 6, when the lifting appliance upper frame 2 enters the detection range of the lifting appliance upper frame falling position detection switch 6, the lifting appliance upper frame falling position detection switch 6 is triggered to generate a falling position signal, the falling position signal is transmitted to an operator or a control system, and then the operator or the control system continues to execute the next operation after acquiring the falling position signal, if the positioning assembly 4 is controlled to drive the positioning frame 3 to move to the initial position along the horizontal direction X. The process not only improves the automation degree of the lifting appliance upper frame anchoring device, but also is beneficial to improving the stability of the lifting appliance upper frame 2 anchoring.
It should be understood that the anchor pin return detection switch 541, the anchor pin fall detection switch 542 and the hanger upper frame fall detection switch 6 may be indirectly disposed on the positioning frame 3 through a mounting seat, or may be directly connected to the positioning frame 3 through a fastener such as a bolt, and the installation manner of the anchor pin return detection switch 541, the anchor pin fall detection switch 542 and the hanger upper frame fall detection switch 6 with the positioning frame 3 is determined according to a specific application scenario.
Optionally, one or more of the anchor pin return detection switch 541, the anchor pin fall detection switch 542, and the hanger upper frame fall detection switch 6 may be a proximity switch, or other detection switches with a position sensing function, and a specific detection switch implementation device may be determined according to a specific application scenario, and the application does not further limit a specific implementation device of the detection switch.
In a possible implementation manner, the positioning frame 3 may include a cross rod connected to the positioning component 4 and two vertical rods respectively rotatably connected to two ends of the cross rod, and the cross rod is always kept in the horizontal direction X in the driving process of the positioning component 4, and the vertical rods always face the direction of the upper frame 2 of the lifting appliance. The structure can rotate the two vertical rods 32 before lifting and anchoring the lifting upper frame 2, so that the opening size of the positioning frame 3 is changed, the difficulty of the lifting upper frame 2 entering the opening of the positioning frame 3 is reduced, and the operation efficiency and the anchoring stability are improved.
A method of controlling a spreader upper frame anchoring device provided by the present application is described below with reference to fig. 8.
Fig. 8 is a schematic flow chart illustrating a method for controlling an upper frame anchoring device of a spreader according to another embodiment of the present application. As shown in fig. 8, the method for controlling the upper frame anchoring device of the spreader is applied to the upper frame anchoring device of the spreader in any of the embodiments, and is used for controlling the device to anchor the upper frame 2 of the spreader, and specifically includes the following steps:
step 100: and controlling the positioning assembly 4 to drive the positioning frame 3, so that the positioning frame 3 is aligned with the upper hanger frame 2.
Have drive arrangement in locating component 4, can drive locating rack 3 and remove, control locating component 4 drive locating rack 3 and remove, make locating rack 3 can remove to the hoist directly over 2, reduce the degree of difficulty for the anchoring butt joint process between hoist upper bracket 2 and the locating rack 3.
Step 200: and controlling a lifting device 10 to lift the upper hanger frame 2, so that the upper hanger frame 2 enters the positioning frame 3.
The hoisting device 10 is a power device of the crane, can be a steel wire rope connected with a driving device, and the steel wire rope is connected with the upper hanger frame 2, when the positioning frame 3 moves to the position right above the upper hanger frame 2, the hoisting device 10 is controlled to hoist the upper hanger frame 2 upwards until the upper hanger frame 2 enters the positioning frame 3, so that the upper hanger frame 2 and the positioning frame 3 are aligned.
Step 300: and acquiring the position information of the upper frame 2 of the lifting appliance.
The position information of the upper hanger frame 2 is the position information of the upper hanger frame 2 in the opening of the positioning frame 3, and only if the position information is accurately acquired, next anchoring operation can be more accurately executed, so that the stability after anchoring is improved, and the probability of safety accidents is reduced.
Step 400: and generating a control instruction according to the position information of the upper hanger frame 2, and transmitting the control instruction to the upper hanger frame anchoring device, wherein the control instruction is used for controlling the positioning assembly 4 and the automatic anchoring device 5 to anchor the positioning frame 3 and the upper hanger frame 2.
The control command is an electric signal command generated by a control system or a controller, and is used for controlling the actions of the positioning component 4, the automatic anchoring device 5 and the like. After the position information of the upper hanger frame 2 is obtained, different control instructions are generated corresponding to different position information of the upper hanger frame 2, and the different control instructions are correspondingly transmitted to the positioning assembly 4 and the automatic anchoring device 5, so that the positioning assembly 4 and the automatic anchoring device 5 are controlled to correctly execute the next operation on the upper hanger frame 2, and the reliability and the operation efficiency of the operation are improved.
The control method of the sling upper frame anchoring device provided by the application is applied to the sling upper frame anchoring device in the embodiment and used for controlling the device to anchor the sling upper frame 2. According to the control method, when the upper hanger frame 2 needs to be anchored in the positioning frame 3, the positioning frame 3 is driven by the positioning assembly 4 to move to the position of the upper hanger frame 2 in the horizontal direction X, after the positioning frame 3 and the upper hanger frame 2 are aligned in the vertical direction Y, the upper hanger frame 2 is lifted to the positioning frame 3 by the aid of the lifting device 10 of the crane, and finally the upper hanger frame 2 is anchored in the positioning frame 3 by the automatic anchoring device 5. This kind of hoist upper rack anchoring device makes locating rack 3 carry out alignment on the vertical direction Y with hoist upper rack 2 earlier through the position of adjustment locating rack 3, has reduced hoist upper rack 2 and has risen the degree of difficulty that the accuracy got into the anchoring position, saves anchoring time, improves the operating efficiency, and has improved the stability of hoist upper rack 2 in locating rack 3 through the anchoring of automatic anchoring device 5, has reduced the probability of appearing of accident.
In a possible implementation manner, fig. 9 is a schematic flow chart of a control method of a spreader loading anchoring device according to another embodiment of the present application. As shown in fig. 6 and 9, the automatic anchoring device 5 includes an anchoring pin 51 attached inside the spacer 3; an anchor pin detection switch group arranged on the positioning frame 3, wherein the anchor pin detection switch group comprises an anchor pin return detection switch 541 arranged on the positioning frame 3 and an anchor pin falling detection switch 542 arranged on the positioning frame 3; an internal driving assembly connected to the anchor pin 51, the internal driving assembly driving the anchor pin 51 to extend out of the spacer 3 or retract into the spacer 3. The lifting appliance upper frame anchoring device also comprises a lifting appliance upper frame falling position detection switch 6 arranged on the positioning frame 3, and the lifting appliance upper frame falling position detection switch 6 is used for detecting the position of the lifting appliance upper frame 2. Based on the above device, step 300 of the method for controlling an overhead anchoring device of a spreader may specifically include the following steps:
step 310: and acquiring the position information of the upper hanger 2 according to the induction information of the upper hanger falling position detection switch 6.
The lifting appliance upper frame falling position detection switch 6 detects whether the lifting appliance upper frame 2 falls in the positioning frame 3 and generates corresponding induction information, the position information of the lifting appliance upper frame 2 can be obtained by obtaining the induction information, and the next operation is executed according to the position information of the lifting appliance upper frame 2, so that the reliability of the subsequent operation is improved.
In addition, step 400 may specifically include the following steps:
step 410: when the sensing information of the lifting appliance upper frame falling position detection switch 6 is the switch trigger information, a first control instruction and a second control instruction are generated.
The first control instruction is used for controlling the positioning assembly 4 to drive the positioning frame 3 to move to the initial position, and the second control instruction is used for controlling the inner driving assembly to drive the anchoring pin 51 to extend out of the positioning frame 3 and be inserted into the upper hanger frame 2. The automatic anchoring of the upper hanger frame 2 is realized by utilizing the control of the first control instruction on the positioning assembly 4 and the control of the second control instruction on the inner driving assembly, and the working efficiency is improved.
Step 420: and acquiring the sensing information of the anchor pin falling position detection switch 542, and generating a third control instruction when the sensing information of the anchor pin falling position detection switch 542 is the switch trigger information, wherein the third control instruction is used for controlling the lifting device 10 to stop working.
When the switch trigger information is generated by the anchor pin falling position detection switch 542, it is described that the anchor pin 51 has been inserted into the hanger upper frame 2 and the anchoring of the hanger upper frame 2 is completed, and at this time, the hoisting device 10 is controlled to stop working, and the hanger upper frame 2 is anchored with the anchor pin 51 by means of self gravity, so that the anchoring stability can be effectively ensured.
In addition, the present application also provides a controller 700 for performing the control method of the spreader landing device in any of the above embodiments.
Fig. 10 is a schematic structural diagram of a controller according to another embodiment of the present application. As shown in fig. 10, such a controller 700 includes: the control system comprises a positioning component control module 701 for controlling the positioning component 4, a hoisting device control module 702 for controlling the hoisting device 10 of the crane, a position information acquisition module 703 for acquiring position information of the upper hanger frame 2, and a control instruction generation module 704 for generating a control instruction, wherein the control instruction is used for controlling the positioning component 4 and the automatic anchoring device 5 to anchor the positioning frame 3 and the upper hanger frame 2. Through the cooperation between the modules, the lifting appliance upper frame anchoring device can controllably, effectively and efficiently anchor the lifting appliance upper frame 2, and the stability after anchoring is higher, so that the operation safety is improved, and the occurrence probability of accidents is reduced.
The following describes a crane provided by the present application with reference to fig. 1.
As shown in fig. 1, the crane includes a trolley frame 1, an upper hanger frame 2, a lifting device 10, an upper hanger frame anchoring device in the above embodiment, which is connected between the trolley frame 1 and the upper hanger frame 2, and a controller 100 in the above embodiment. In addition, the controller 100 is electrically connected to the spreader upper frame anchor and the controller 100 is electrically connected to the hoist 10.
Because the crane is provided with the lifting appliance upper frame anchoring device in any embodiment, when the lifting appliance upper frame 2 of the crane needs to be anchored in the positioning frame 3, the positioning frame 3 is driven by the positioning component 4 to move to the position of the lifting appliance upper frame 2 in the horizontal direction X, after the positioning frame 3 and the lifting appliance upper frame 2 are aligned in the vertical direction Y, the lifting appliance upper frame 2 is lifted to the positioning frame 3 by the lifting device 10 of the crane, and finally the lifting appliance upper frame 2 is anchored in the positioning frame 3 by the automatic anchoring device 5. This kind of hoist upper rack anchoring device makes locating rack 3 carry out alignment on the vertical direction Y with hoist upper rack 2 earlier through the position of adjustment locating rack 3, has reduced hoist upper rack 2 and has risen the degree of difficulty that the accuracy got into the anchoring position, saves anchoring time, improves the operating efficiency, and has improved the stability of hoist upper rack 2 in locating rack 3 through the anchoring of automatic anchoring device 5, has reduced the probability of appearing of accident.
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 11. Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
As shown in fig. 11, the electronic device 600 includes one or more processors 601 and memory 602.
The processor 601 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.
Memory 601 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory can include, for example, Random Access Memory (RAM), cache memory (or the like). The non-volatile memory may include, for example, Read Only Memory (ROM), a hard disk, flash memory, and the like. One or more computer program information may be stored on the computer readable storage medium and executed by the processor 601 to implement the above control method of the spreader loading anchoring device of the various embodiments of the present application or other desired functions.
In one example, the electronic device 600 may further include: an input device 603 and an output device 604, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 603 may include, for example, a keyboard, a mouse, and the like.
The output device 604 can output various kinds of information to the outside. The output means 604 may comprise, for example, a display, a communication network, a remote output device connected thereto, and the like.
Of course, for the sake of simplicity, only some of the components related to the present application in the electronic device 600 are shown in fig. 11, and components such as a bus, an input/output interface, and the like are omitted. In addition, electronic device 600 may include any other suitable components depending on the particular application.
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program information which, when executed by a processor, causes the processor to perform the steps in the method of controlling a spreader-racking anchoring device according to various embodiments of the present application described in the present specification.
The computer program product may include program code for carrying out operations for embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer readable storage medium having stored thereon computer program information which, when executed by a processor, causes the processor to perform the steps in the method of controlling a spreader upper anchorage device according to various embodiments of the present application.
A computer-readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (13)
1. A spreader racking anchoring device, comprising:
the positioning frame (3) is arranged between the trolley frame (1) and the lifting appliance upper frame (2) of the crane;
the positioning assembly (4), the positioning assembly (4) is connected with the positioning frame (3), and the positioning assembly (4) drives the positioning frame (3) to move along the horizontal direction; and
the automatic anchoring device (5) is connected into the positioning frame (3), and the automatic anchoring device (5) is used for anchoring the hanger upper frame (2) and the positioning frame (3);
wherein the upper hanger frame (2) is lifted into the positioning frame (3) through a lifting device (10) of the crane.
2. The spreader racking anchoring device according to claim 1, wherein said automatic anchoring device (5) comprises:
an anchor pin (51) rotatably connected in the positioning frame (3);
the inner driving assembly is rotationally connected with the anchoring pin (51), and drives the anchoring pin (51) to extend out of the positioning frame (3) or retract into the positioning frame (3); and
an anchor pin detection switch group arranged on the positioning frame (3) and used for detecting the position of the anchor pin (51);
wherein, driven by the inner driving component, the anchoring pin (51) extends out of the positioning frame (3) and is inserted into the upper hanger frame (2) to be abutted against the upper hanger frame (2).
3. The spreader racking anchoring device according to claim 2, wherein said automatic anchoring device (5) further comprises:
be fixed in joint spare (53) of locating rack (3), joint spare (53) with anchor pin (51) joint cooperation.
4. The spreader racking anchor device of claim 2, wherein said anchor pin detection switch set comprises:
an anchor pin return detection switch (541) arranged on the positioning frame (3); and
an anchor pin drop position detection switch (542) provided on the positioning frame (3).
5. The spreader racking anchoring device of claim 2, further comprising:
the lifting appliance upper frame falling position detection switch (6) is arranged on the positioning frame (3) and used for detecting the position of the lifting appliance upper frame (2).
6. A spreader racking anchoring device according to claim 5,
the anchoring pin detection switch group is a proximity switch; and/or
The lifting appliance upper frame falling position detection switch (6) is a proximity switch.
7. The spreader racking anchoring device of claim 1, wherein said positioning assembly (4) comprises:
the two connecting rods (42) are connected between the positioning frame (3) and the trolley frame (1), the first end of each connecting rod (42) is hinged with the trolley frame (1), and the second end of each connecting rod is hinged with the top of the positioning frame (3);
a first hydraulic push rod (41), wherein a first end of the first hydraulic push rod (41) is hinged with the trolley frame (1), and a second end of the first hydraulic push rod (41) is hinged with a second end of one of the connecting rods (42);
the first hydraulic push rod (41) drives the connecting rod (42) to rotate relative to the trolley frame (1) and the positioning frame (3) so as to drive the positioning frame (3) to move in a reciprocating mode in the horizontal direction.
8. The spreader-racking anchoring device of claim 2, wherein said inner drive assembly comprises a second hydraulic ram (521).
9. A spreader-racking anchoring device according to claim 1, wherein said spacer (3) comprises:
a cross bar connected with the positioning component (4); and
the two vertical rods are respectively and rotatably connected to the two ends of the cross rod and face towards the direction of the upper hanger frame (2) all the time.
10. A control method of a spreader upper frame anchoring device applied to the spreader upper frame anchoring device according to any one of claims 1 to 9, comprising:
controlling a positioning assembly to drive a positioning frame so that the positioning frame is aligned with the upper hanger frame;
controlling a lifting device to lift the upper hanger frame, so that the upper hanger frame enters the positioning frame;
acquiring the position information of the upper frame of the lifting appliance; and
and generating a control command according to the position information of the upper hanger frame, and transmitting the control command to the upper hanger frame anchoring device, wherein the control command is used for controlling the positioning assembly and the automatic anchoring device to anchor the positioning frame and the upper hanger frame.
11. The method for controlling an overhead spreader anchoring device according to claim 10, wherein the automatic anchoring device comprises:
an anchor pin connected to the inside of the spacer;
the anchor pin detection switch group is arranged on the positioning frame and used for detecting the position of the anchor pin, and the anchor pin detection switch group comprises an anchor pin return detection switch arranged on the positioning frame and an anchor pin falling detection switch arranged on the positioning frame;
the inner driving assembly is connected with the anchoring pin and drives the anchoring pin to extend out of the positioning frame or retract into the positioning frame;
the spreader racking anchoring device further comprises:
the lifting appliance upper frame falling position detection switch is arranged on the positioning frame and used for detecting the position of the lifting appliance upper frame;
the acquiring of the position information of the upper hanger frame comprises the following steps:
acquiring the position information of the upper hanger according to the sensing information of the upper hanger falling position detection switch;
generating a control instruction according to the position information of the upper hanger frame, wherein the control information is used for controlling the outer driving assembly and the automatic anchoring device to anchor the positioning frame and the upper hanger frame, and the control method comprises the following steps:
when the sensing information of the lifting appliance upper frame falling position detection switch is switch triggering information, generating a first control instruction and a second control instruction, wherein the first control instruction is used for controlling the positioning assembly to drive the positioning frame to move to an initial position, and the second control instruction is used for controlling the internal driving assembly to drive the anchoring pin to extend out of the positioning frame and be inserted into the lifting appliance upper frame; and
and acquiring the induction information of the anchor pin falling position detection switch, and generating a third control instruction when the induction information of the anchor pin falling position detection switch is switch trigger information, wherein the third control instruction is used for controlling the lifting device to stop working.
12. A controller for performing the method of controlling the spreader-upper frame anchoring device according to any one of claims 10 to 11, comprising:
a positioning component control module (701) for controlling the positioning component (4);
a hoist control module (702) for controlling a hoist (10) of the crane;
a position information acquisition module (703) for acquiring position information of the upper frame (2) of the lifting appliance;
a control instruction generation module (704) for generating a control instruction, wherein the control instruction is used for controlling the positioning assembly (4) and the automatic anchoring device (5) to anchor the positioning frame (3) and the spreader upper frame (2).
13. A crane, comprising:
a trolley frame (1);
a lifting appliance upper frame (2);
the lifting device (10) is connected with the upper hanger frame (2);
the spreader upper frame anchoring device according to any of claims 1-9, which is connected between the trolley frame (1) and the spreader upper frame (2); and
the controller (700) of claim 12, the controller (700) being electrically connected to the spreader upper frame anchorage, the controller (700) being electrically connected to the hoist (10).
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| CN202111075979.5A CN113753748B (en) | 2021-09-14 | 2021-09-14 | Lifting appliance upper frame anchoring device, control method, controller and crane |
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| CN202111075979.5A CN113753748B (en) | 2021-09-14 | 2021-09-14 | Lifting appliance upper frame anchoring device, control method, controller and crane |
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| CN113753748B (en) | 2023-07-25 |
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