CN116495624A - Automatic monitoring device for safe operation of group towers and control method thereof - Google Patents
Automatic monitoring device for safe operation of group towers and control method thereof Download PDFInfo
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- CN116495624A CN116495624A CN202310343563.XA CN202310343563A CN116495624A CN 116495624 A CN116495624 A CN 116495624A CN 202310343563 A CN202310343563 A CN 202310343563A CN 116495624 A CN116495624 A CN 116495624A
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012544 monitoring process Methods 0.000 claims abstract description 101
- 238000012545 processing Methods 0.000 claims abstract description 76
- 230000008859 change Effects 0.000 claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims description 39
- 241000669069 Chrysomphalus aonidum Species 0.000 claims description 16
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 238000013461 design Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 24
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 230000001681 protective effect Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 238000005303 weighing Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 208000032140 Sleepiness Diseases 0.000 description 1
- 206010041349 Somnolence Diseases 0.000 description 1
- 241000375392 Tana Species 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach 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
- B66C13/16—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
- B66C13/00—Other constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
-
- 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
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The utility model provides a crowd tower safety operation automatic monitoring device and control method thereof, includes tower arm monitoring unit, range change measuring unit, weight measuring unit, central control unit, data processing unit, central control unit installs in the driver's cabin, data processing unit with central control unit is connected, tower arm monitoring unit, range change measuring unit, weight measuring unit with data processing unit are connected, tower arm monitoring unit installs in tower body and tower crane big arm, range change unit installs in lifting hook and luffing trolley, weight measuring unit installs in luffing trolley. The design not only can ensure the working safety of the single tower crane, but also can prevent the group towers from collision when working together.
Description
Technical Field
The invention relates to the technical field of tower crane safety operation, in particular to an automatic monitoring device for tower safety operation and a control method thereof.
Background
The tower crane is also called tower crane or tower crane, which is a vertical hoisting machine for cyclic operation, the operation range is a vertical space with the length of a large arm as a radius, in large projects, because the coverage range of a single crane is limited, a plurality of tower cranes are required to operate, larger projection surfaces are inevitably overlapped among group towers because of the complete coverage of the space, although the heights of tower bodies of all tower cranes can avoid the plane overlapping when being arranged, the space column formed by the wire ropes vertically lifted up and down by the luffing trolley during operation can not avoid the space overlapping, the tower cranes are easy to collide with each other due to the influence of sight or fatigue operation of drivers in foggy days and night operation, meanwhile, the range of the tower crane is very large, the load amplitude is usually carried in the operation, the variation of the lifting moment is very large, and once the moment resistance formed by a balancing weight and a side arm is smaller than the moment formed by the amplitude and the lifting weight, the moment is unstable, thus the construction safety is challenged.
Disclosure of Invention
The invention aims to overcome the defects and problems of unstable operation and easy mutual collision of the group towers in the prior art, and provides a group tower safety operation automatic monitoring device which is stable in operation and can prevent the mutual collision of the group towers and a control method thereof.
In order to achieve the above object, the technical solution of the present invention is:
the automatic monitoring device for the safe operation of the group tower comprises a tower arm monitoring unit, an amplitude variation measuring unit, a weight measuring unit, a central control unit and a data processing unit, wherein the central control unit is arranged in a cab, the data processing unit is connected with the central control unit, the tower arm monitoring unit, the amplitude variation measuring unit and the weight measuring unit are connected with the data processing unit, the tower arm monitoring unit is arranged on a tower body and a tower crane boom, the amplitude variation measuring unit is arranged on a lifting hook and a luffing trolley, and the weight measuring unit is arranged on the luffing trolley;
the tower arm monitoring unit is used for acquiring the rotation speed of the tower crane, the three-dimensional coordinates of the tower crane big arm and the tower crane side arm end, and sending the data to the data processing unit;
the amplitude change measuring unit is used for acquiring the moving distance of the lifting hook and the amplitude changing trolley and sending the data to the data processing unit;
The weight measuring unit is used for acquiring the weight of the hung object and sending the data to the data processing unit;
the data processing unit is used for processing the acquired data and sending the processed data to the central control unit;
the central control unit is used for displaying the data of the working state of the tower crane, controlling the operation of the tower crane, giving voice alarm and sending the data of the working state of the tower crane to the enterprise system monitoring platform through the GPRS network.
The tower arm monitoring unit comprises a first monitoring prism, a second monitoring prism, a total station and a multi-axis sensor, wherein the first monitoring prism is arranged at the top of the tower body, the second monitoring prism is arranged at the joint of the rotation center of the tower body and the tower crane boom, the total station is arranged relative to the first monitoring prism and the second monitoring prism, and the multi-axis sensor is arranged on the tower crane boom right above the rotation center of the tower body;
the total station is used for calculating the perpendicularity of the tower body after measuring the plane coordinates of the first monitoring prism, obtaining the plane coordinates and the height of the rotation center of the big arm of the tower crane by measuring the three-dimensional coordinates of the second monitoring prism, and sending data to the data processing unit;
The multi-axis sensor is used for measuring the horizontal azimuth angle of the tower crane boom and the rotation speed of the tower crane and sending data to the data processing unit.
The first monitoring prism comprises an L-shaped fixed block and an installation box, wherein the L-shaped fixed block is horizontally placed, two ends of the L-shaped fixed block are connected onto a fixed column of a tower body through fixing devices, the installation box is connected to one side of the L-shaped fixed block, horizontal bubbles are arranged on the upper side of the installation box, a first motor is arranged in the installation box, an output shaft sleeve of the first motor is provided with a first driving gear, a first driven gear is connected with the outer side of the first driving gear in a meshed mode, the first driven gear is sleeved on a first connecting shaft, an output shaft of the first motor is parallel to the first connecting shaft, the first connecting shaft is vertically arranged, one end of the first connecting shaft penetrates through an L-shaped support after the installation box, a protective cover is arranged on one side of the L-shaped support, a second motor is arranged in the protective cover, the output shaft sleeve of the second motor is provided with a second driving gear, the outer side of the second driving gear is meshed with a second driven gear, the second driven gear is sleeved on the second driven gear, the second driven gear is connected with a second output shaft in a meshed mode, the second driven gear is connected with a first laser head, the second output shaft is connected with the first laser head and penetrates through the first laser head, and is connected with the first laser head in a parallel mode, and the first laser head is connected with the first laser head and is perpendicular to the first laser head and connected with the first laser head.
The fixing device comprises a buckling block, a guide shaft, a bushing, a tension spring and a connecting block, wherein sliding grooves are formed in two ends of the L-shaped fixing block, the bushing is sleeved on the guide shaft and located in the sliding grooves, one end of the guide shaft is located in the sliding grooves, the other end of the guide shaft penetrates through the sliding grooves and then is connected with the buckling block, the connecting block is connected with the end part of the L-shaped fixing block, one end of the tension spring is connected with the connecting block, the other end of the tension spring is connected with the buckling block, one side of the buckling block is abutted to the outer side of the tower crane, and one side of the buckling block, which is close to the tower crane, is provided with a plurality of conical protrusions.
The second monitoring prism comprises a top plate and a bottom plate which are arranged at intervals up and down, a threaded hole is formed in the center of the bottom plate, a leveling device is arranged on the upper side of the bottom plate, the leveling device is connected with the top plate, a mounting groove is formed in the lower side of the top plate, a third motor and a vertical shaft are arranged in the mounting groove, the output end of the third motor is connected with a first pinion, the vertical shaft is located at the center of the top plate, a first large gear is sleeved on the outer peripheral surface of the lower end of the vertical shaft, the first large gear is meshed and connected with the first pinion, the upper end of the vertical shaft penetrates through the top plate and then is connected with a U-shaped frame, a T-shaped horizontal bubble is arranged on the inner bottom wall of the U-shaped frame, a cross shaft is transversely arranged in the two side portions of the U-shaped frame, a prism head is connected between the cross shafts, a power supply and the other side portion of the U-shaped frame is embedded with a fourth motor, the output end of the fourth motor is provided with a second small gear, the fourth motor is close to the fourth motor and is meshed with the fourth large gear, and is connected with the fourth large gear and the fourth motor is meshed with the fourth motor.
The utility model discloses a connecting device for a vertical axis, including the roof, the holding tank has been seted up to the upside of roof, be provided with connecting bearing in the holding tank, connecting bearing's outer lane connect in the inner wall of holding tank, connecting bearing's inner race cover is located the outer peripheral face of vertical axis, still be provided with the spliced pole in the holding tank, the upside of spliced pole is connected with the connecting plate, the connecting plate is circular, connecting plate and spliced pole all overlap and locate the vertical axis, the connecting plate connect in the downside of U type frame, the upside of connecting plate is provided with the pointer, the upside of roof is provided with circular scale mark, the center of circular scale mark is located on the center pin of vertical axis, the pointer point to in circular scale mark.
The amplitude change measuring unit comprises a rotary grating ruler and a displacement sensor, wherein a fixed grating of the rotary grating ruler is connected with a trolley body of the amplitude-changing trolley, a movable grating of the rotary grating ruler is connected with wheels of the amplitude-changing trolley, and the displacement sensor is arranged at a lifting fixed pulley of the amplitude-changing trolley;
the rotary grating ruler is used for measuring the rotation angle of the wheels of the luffing trolley and then sending data to the data processing unit, and the data processing unit calculates the horizontal moving distance of the luffing trolley according to the rotation angle and the radius of the wheels;
The displacement sensor is used for measuring the rotation angle of the fixed lifting pulley and sending data to the data processing unit, and the data processing unit calculates the vertical movement distance of the lifting hook according to the rotation angle and the radius of the fixed lifting pulley.
The automatic monitoring device for the safe operation of the group towers further comprises an ultrasonic ranging radar, wherein the ultrasonic ranging radar is arranged on the side face of the lifting hook and used for detecting the distance between the lifting hook and a hung object.
The central control unit comprises a singlechip, a display and an alarm module, wherein the display and the alarm module are connected with the singlechip;
the display is used for displaying the simulated working state of the tower crane and the working state data of the tower crane;
the alarm module is used for giving an alarm by voice;
the singlechip is used for sending the processing data to the display for displaying and controlling the operation of the tower crane.
A control method of an automatic monitoring device for group tower safety operation, the control method comprising the following steps:
s1, group tower safety monitoring measures: the tower arm monitoring unit measures plane coordinates and height of a rotation center of a tower crane boom, a horizontal azimuth angle of the tower crane boom and a rotation angle of the tower crane, the plane coordinates, the height, the horizontal azimuth angle and the rotation angle are input into the data processing unit, the plane coordinates and the height are used as three-dimensional coordinate reference values, the data processing unit calculates the space coordinates of the farthest end of the tower crane boom and the space coordinates of the farthest end of a tower crane side arm, the central control unit automatically networking the tower crane with space lap joint in a factory according to the reference parameters, real-time dynamic calculation analysis is carried out on the space coordinates of the farthest ends of each tower crane boom and the tower crane side arm, and when the distance calculated by the software coordinates is larger than the safe distance of the tower crane, the tower crane works normally; when the distance reversely calculated by the software coordinates is close to the safe distance of the tower crane, the central control unit carries out voice alarm; when the distance reversely calculated by the software coordinates is smaller than the safe distance of the tower crane, the central control unit controls the tower crane to stop working; the method comprises the steps of carrying out a first treatment on the surface of the
S2, monitoring the amplitude of the tower crane: the weight measuring unit obtains the weight of the hung object, the central control unit automatically sets the maximum horizontal displacement distance of the luffing trolley according to the weight of the hung object, the amplitude change measuring unit measures the horizontal displacement distance of the luffing trolley and the vertical displacement distance of the lifting hook, when the horizontal displacement distance of the luffing trolley is close to the maximum horizontal displacement distance, the central control unit carries out voice alarm, and when the displacement distance of the luffing trolley reaches the maximum horizontal displacement distance, the central control unit controls the luffing trolley to automatically reversely move for a certain distance; the data processing unit calculates the real-time lifting height of the lifting hook by subtracting the vertical moving distance of the lifting hook from the height of the tower crane boom measured by the total station, the central control unit compares the real-time lifting height with the set maximum lifting height, when the lifting height of the lifting hook is close to the maximum lifting height, the central control unit carries out voice alarm, and when the lifting height of the lifting hook reaches the maximum lifting height, the central control unit controls the lifting hook to stop working.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the automatic monitoring device for the group tower safety operation and the control method thereof, provided by the invention, the spatial position of the large arm of the tower crane can be measured by arranging the tower arm monitoring unit, so that the real-time working state of the tower crane can be fed back, and the rotation speed of the tower crane can be monitored; the amplitude change measuring unit is arranged, so that the moving distance of the amplitude changing trolley and the lifting hook can be obtained, meanwhile, the weight of the lifted object measured by the weight measuring unit is combined, the maximum working amplitude of the amplitude changing trolley is determined according to a moment balance formula, and the situation of overturning caused by overlarge moving amplitude of the amplitude changing trolley can be prevented; through setting up central control unit, can acquire the operating condition of tower crane in real time, report to the police when adjacent tower crane gets into safe distance to avoid the jack-up accident. Therefore, the invention not only can ensure the working safety of the single tower crane, but also can prevent the group towers from collision when working together.
2. According to the automatic monitoring device for the safety operation of the tower crane and the control method thereof, the perpendicularity of the tower body is measured through the cooperation of the total station and the first monitoring prism, and then the plane coordinates and the height of the rotation center of the large arm of the tower crane are measured through the total station and the second monitoring prism, so that the plane coordinates and the height are used as three-dimensional coordinate reference values for estimating the space attitude of the large arm of the tower crane. The multi-axis sensor is arranged on the tower crane boom right above the rotation center, the horizontal azimuth angle of the tower crane boom is measured through the 3-axis magnetic field of the multi-axis sensor, the space coordinate of the farthest end of the tower crane boom can be calculated by utilizing a coordinate forward calculation formula according to the three-dimensional coordinate of the rotation center, the horizontal azimuth angle of the tower crane boom and the design length of the tower crane boom, and the space coordinate of the farthest end of the tower crane side arm can be calculated in the same way. The multi-axis sensor is used for additionally measuring the X and Y axis levels of the tower crane boom, so that the plane deformation of the tower crane boom is monitored, and the three-axis angular velocity measured by the multi-axis sensor is used for monitoring the rotation speed of the tower crane. Therefore, the invention has stable work and higher monitoring accuracy.
3. According to the automatic monitoring device for the group tower safety operation and the control method thereof, the L-shaped fixing blocks and the fixing devices are adopted, so that the installation box can be clamped on the tower crane, the L-shaped fixing blocks are adopted, the gap between the L-shaped fixing blocks and the tower crane is smaller, the connection between the L-shaped fixing blocks and the tower crane is more compact, the stability is higher, whether the installation box is in a horizontal state after being installed or not can be observed through horizontal bubbles, and the error is avoided to be larger in the subsequent measurement; the first motor drives the L-shaped bracket and the prism to rotate in the horizontal direction, the second motor drives the prism to rotate in the vertical direction, the rotation alignment total station in the two directions of the prism is realized, the motor driving mode is adopted to replace manual operation for rotation alignment, and the operation is convenient; the device is clamped on the tower crane under the action of the tension spring and the guide shaft by stretching the two buckling blocks, and then the leveling in the horizontal direction can be realized by adjusting the buckling blocks; the plurality of conical protrusions are arranged, so that the buckling blocks are conveniently clamped on the tower crane; through setting up the laser head, the laser of prism upper portion can launch simultaneously and carry out action feedback and instruct the prism direction when the prism is rotatory. Therefore, the invention has stable structure and higher safety.
4. According to the automatic monitoring device for the safe operation of the group tower and the control method thereof, the third motor is used for realizing the horizontal rotation of the U-shaped frame and the prism head, the fourth motor is used for driving the transverse shaft to rotate, so that the prism lens is driven to vertically rotate, the rotation alignment total station in two directions of the prism lens is realized, the speed reduction is formed by adopting the meshing mode of the pinion and the large gear, and the rotation fine adjustment of the prism lens can be realized; through setting up circular shape connecting plate, set up the pointer on the connecting plate, set up circular scale mark simultaneously in the upside of roof, through reading the scale value that the pointer pointed to, can read the rotation angle of current U type frame to accurate horizontal rotation fine setting makes the prism head aim at total powerstation to U type frame, and the prism is with the three-dimensional coordinate of total powerstation cooperation measurement tower crane big arm rotation center, measurement accuracy is higher, and the error is less. Therefore, the invention has stable structure and higher measurement precision.
5. According to the automatic monitoring device for the group tower safety operation and the control method thereof, a rotary grating ruler is arranged, the rotation angle of wheels is measured, the moving distance of the luffing trolley can be calculated by utilizing a formula according to the rotation angle and the radius of the wheels, the distance between the luffing trolley and the rotation center can be accurately measured, the three-dimensional coordinate of the luffing trolley is determined, a displacement sensor is arranged at a lifting fixed pulley on the luffing trolley, the rotation angle of a pulley is measured, the total elongation of a steel wire rope is calculated according to the radius of the distance from the center of the fixed pulley to the center of a steel wire rope, the actual vertical lifting value of the lifting hook is obtained by dividing the elongation value of the steel wire rope by the multiplying power of a pulley block, the lifting hook lifting value is subtracted by the height of a big arm, the space height absolute value of the lifting hook can be calculated, and the plane coordinate of the center of the luffing trolley is the plane coordinate of the lifting hook because the plane coordinate is the same in the vertical direction, the space height of the lifting hook is overlapped to form the three-dimensional coordinate of the lifting hook, and the three-dimensional coordinate of the lifted object is determined; the weight of the suspended object can be measured through the weighing sensor, and the maximum working amplitude of the amplitude-variable trolley and the lifting hook can be judged by combining the three-dimensional coordinates of the suspended object, so that the condition of overturning is avoided. Therefore, the invention has stable structure and higher safety.
6. According to the automatic monitoring device for the safe operation of the group tower and the control method thereof, provided by the invention, by arranging the ultrasonic ranging radar, when the lifting hook approaches to the object, the distance between the lifting hook and the object is gradually alarmed and displayed, so that the workload that a noisy driver needs to call with an interphone repeatedly due to the sound of the surrounding environment is reduced, the problem that a tower crane driver cannot control the vertical distance accurately due to the unclear sight of night and heavy fog in overlooking is solved, and the safe operation is facilitated. Therefore, the invention has higher safety.
7. According to the automatic monitoring device for the safety operation of the group tower and the control method thereof, the plurality of control units are used for monitoring the tower crane, the luffing trolley and the lifting hook in real time, so that the working state of the tower crane is displayed, when the group tower works, the central control unit automatically organizes the tower crane which is in space lap joint in a factory according to the reference parameters, when the distance between the adjacent tower cranes is close to the safety distance, the central control unit gives an alarm in a voice mode and automatically intervenes, and the situation that the group towers collide with each other due to manual misoperation or sleepiness can be avoided, so that safety accidents are caused; meanwhile, the horizontal movement distance of the luffing trolley is measured, so that the phenomenon that the luffing trolley is overturned due to overlarge movement amplitude is avoided, and the mutually contacted and collided objects during the working of a plurality of tower cranes are avoided by measuring the lifting height of the lifting hook. Therefore, the invention has stable work and higher safety.
Drawings
Fig. 1 is a schematic structural view of an automatic monitoring device for group tower safety operation in the present invention.
Fig. 2 is a schematic structural diagram of the tower crane according to the present invention.
Fig. 3 is an enlarged schematic view at a in fig. 2.
Fig. 4 is an enlarged schematic view at B in fig. 2.
Fig. 5 is an enlarged view of a portion of the tower of fig. 2 in elevation.
Fig. 6 is a schematic structural view of a first monitoring prism in the present invention.
Fig. 7 is a schematic view of the structure of the mounting box, the L-shaped bracket and the prism in the present invention.
Fig. 8 is a schematic cross-sectional view of the mounting box of the present invention.
Fig. 9 is a schematic cross-sectional view of the mounting box, L-bracket, prism of the present invention.
Fig. 10 is a schematic structural view of an L-shaped fixing block and a fixing device according to the present invention.
Fig. 11 is a schematic sectional view of the L-shaped fixing block and the fixing device of the present invention in a front view.
Fig. 12 is a schematic structural view of a second monitoring prism according to the present invention.
Fig. 13 is a schematic view of the structure of the top plate in the present invention.
Fig. 14 is a schematic view of the structure of the U-shaped frame and prism lens of the present invention.
Fig. 15 is a schematic cross-sectional view of a U-shaped frame and prism lens according to the present invention.
Fig. 16 is a schematic cross-sectional view of a top plate in the present invention.
In the figure: tower crane 1, tower 11, tower boom 12, tower side arm 13, luffing trolley 14, hook 15, first monitoring prism 16, L-shaped fixed block 161, fixture 162, clasp block 1621, guide shaft 1622, chute 1623, bushing 1624, connecting block 1625, tension spring 1626, tapered boss 1627, mounting box 163, top plate 1631, L-shaped side plate 1632, bottom plate 1633, mounting cavity 1634, spacer 1635, circuit board 1636, battery 1637, first motor 1638, first drive gear 1639, first driven gear 16310, first connecting shaft 16311, second motor 16312, second drive gear 16313, second driven gear 16314, second connecting shaft 16315, rolling bearing 16316, horizontal bubble 164, L-shaped bracket 165, prism 166 protective cover 167, solar mount 168, solar panel 169, switch 1610, laser head 1611, second monitoring prism 17, bottom plate 171, top plate 172, leveling device 173, third motor 174, vertical shaft 175, first pinion 176, first large gear 177, U-shaped frame 178, T-shaped horizontal bubble 179, horizontal shaft 1710, prism head 1711, power source 1712, fourth motor 1713, second pinion 1714, second large gear 1715, threaded hole 1716, mounting groove 1717, accommodation groove 1718, connection bearing 1719, connection post 1720, connection plate 1721, pointer 1722, circular scale line 1723, tower arm monitoring unit 2, amplitude variation measuring unit 3, weight measuring unit 4, central control unit 5, data processing unit 6.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings and detailed description.
Referring to fig. 1 to 16, an automatic monitoring device for group tower safety operation comprises a tower arm monitoring unit 2, an amplitude variation measuring unit 3, a weight measuring unit 4, a central control unit 5 and a data processing unit 6, wherein the central control unit 5 is arranged in a cab, the data processing unit 6 is connected with the central control unit 5, the tower arm monitoring unit 2, the amplitude variation measuring unit 3 and the weight measuring unit 4 are connected with the data processing unit 6, the tower arm monitoring unit 2 is arranged on a tower body 11 and a tower crane boom 12, the amplitude variation measuring unit 3 is arranged on a lifting hook 15 and a luffing trolley 14, and the weight measuring unit 4 is arranged on the luffing trolley 14;
the tower arm monitoring unit 2 is used for acquiring the rotation speed of the tower crane 1, the three-dimensional coordinates of the ends of the tower crane boom 12 and the tower crane side arm 13, and sending data to the data processing unit 6;
the amplitude change measuring unit 3 is used for acquiring the moving distance of the lifting hook 15 and the amplitude changing trolley 14 and sending data to the data processing unit 6;
the weight measuring unit 4 is used for acquiring the weight of the suspended object and sending the data to the data processing unit 6;
The data processing unit 6 is configured to process the acquired data and send the processed data to the central control unit 5;
the central control unit 5 is used for displaying the data of the working state of the tower crane 1, controlling the operation of the tower crane 1, giving voice alarm and sending the data of the working state of the tower crane 1 to the enterprise system monitoring platform through a GPRS network.
The tower arm monitoring unit 2 comprises a first monitoring prism 16, a second monitoring prism 17, a total station and a multi-axis sensor, wherein the first monitoring prism 16 is arranged at the top of the tower body 11, the second monitoring prism 17 is arranged at the joint of the rotation center of the tower body 11 and the tower crane boom 12, the total station is arranged relative to the first monitoring prism 16 and the second monitoring prism 17, and the multi-axis sensor is arranged on the tower crane boom 12 right above the rotation center of the tower body 11;
the total station is used for calculating the verticality of the tower body 11 by measuring the plane coordinates of the first monitoring prism 16, obtaining the plane coordinates and the height of the rotation center of the tower crane boom 12 by measuring the three-dimensional coordinates of the second monitoring prism 17, and sending the data to the data processing unit 6;
the multi-axis sensor is used for measuring the horizontal azimuth angle of the tower crane boom 12 and the rotation speed of the tower crane 1, and sending data to the data processing unit 6.
The first monitoring prism 16 comprises an L-shaped fixed block 161 and an installation box 163, the L-shaped fixed block 161 is horizontally arranged, two ends of the L-shaped fixed block 161 are connected to a fixed column of the tower body 11 through fixing devices 162, the installation box 163 is connected to one side of the L-shaped fixed block 161, a horizontal bubble 164 is arranged on the upper side of the installation box 163, a first motor 1638 is arranged in the installation box 163, a first driving gear 1639 is arranged on an output shaft sleeve of the first motor 1638, a first driven gear 16310 is connected to the outer side of the first driving gear 1639 in an engaged mode, the first driven gear 16310 is sleeved on the first connecting shaft 16311, an output shaft of the first motor 1638 is mutually parallel to the first connecting shaft 16311, the first connecting shaft 11 is vertically arranged, one end of the first connecting shaft 11 penetrates through the installation box 163, the L-shaped support 165 is connected to one side of the L-shaped support 165, a second motor 1638 is arranged in the installation box, a first motor 16312 is arranged in the installation box, a second driving gear 16312 is arranged on the second protection box, a second output shaft sleeve of the second motor 16312 is meshed with the first driven gear 1639, the first driven gear 16310 is mutually parallel to the first connecting shaft 16315, the first connecting shaft 16315 is mutually connected to the second driving gear 13, and the second driving gear 16315 is mutually perpendicular to the first connecting shaft 166, and the first connecting shaft 16315 is mutually perpendicular to the first connecting shaft 15, and the first connecting shaft 16315 is mutually connected to the first output shaft 13, and the first connecting shaft 16315, and the first connecting shaft 13 is mutually parallel to the first connecting shaft 15, and the first connecting shaft 15.
The fixing device 162 comprises a buckling block 1621, a guide shaft 1622, a bushing 1624, a tension spring 1626 and a connecting block 1625, wherein sliding grooves 1623 are formed in two ends of the L-shaped fixing block 161, the bushing 1624 is sleeved on the guide shaft 1622 and is positioned in the sliding grooves 1623, one end of the guide shaft 1622 is positioned in the sliding grooves 1623, the other end of the guide shaft penetrates through the sliding grooves 1623 and then is connected with the buckling block 1621, the connecting block 1625 is connected with the end part of the L-shaped fixing block 161, one end of the tension spring 1626 is connected with the connecting block 1625, the other end of the tension spring 1621 is connected with the buckling block 1621, one side of the buckling block 1621 is abutted to the outer side of the tower crane 1, and one side of the buckling block 1621, which is close to the tower crane 1, is provided with a plurality of conical protrusions 1627.
The second monitoring prism 17 comprises a top plate 172 and a bottom plate 171 which are arranged at intervals up and down, a threaded hole 1716 is formed in the center of the bottom plate 171, a leveling device 173 is arranged on the upper side of the bottom plate 171, the leveling device 173 is connected with the top plate 172, a mounting groove 1717 is formed in the lower side of the top plate 172, a third motor 174 and a vertical shaft 175 are arranged in the mounting groove 1717, the output end of the third motor 174 is connected with a first small gear 176, the vertical shaft 175 is located at the center of the top plate 172, a first large gear 177 is sleeved on the outer peripheral surface of the lower end of the vertical shaft 175, the first large gear 177 is connected with the first small gear 176 in an engaged mode, the upper end of the vertical shaft 175 penetrates through the top plate 172 and is connected with a U-shaped frame 1710, the inner bottom wall of the U-shaped frame 178 is provided with a T-shaped horizontal bubble 179, two lateral sides of the U-shaped frame 178 are transversely provided with a cross shaft 1710, a prism head 1 is connected between the two lateral sides of the U-shaped frame 1713, the lateral sides of the U-shaped frame 1713 are provided with a second large gear 1713, the fourth motor 1713 is meshed with the fourth large gear 1713, the fourth lateral side 1713 is meshed with the fourth large gear 1713, and the fourth lateral side 1713 is connected with the fourth large gear 1714, and the fourth lateral side 1713 is meshed with the fourth power source 1714.
The upper side of roof 172 has seted up holding tank 1718, be provided with connecting bearing 1719 in the holding tank 1718, connecting bearing 1719's outer lane connect in the inner wall of holding tank 1718, connecting bearing 1719's inner race cover is located the outer peripheral face of vertical axis 175, still be provided with connecting post 1720 in the holding tank 1718, connecting post 1720's upside is connected with connecting plate 1721, connecting plate 1721 is circular, connecting plate 1721 and connecting post 1720 all overlap and locate vertical axis 175, connecting plate 1721 connect in the downside of U type frame 178, connecting plate 1721's upside is provided with pointer 1722, the upside of roof 172 is provided with circular scale line 1723, the center of circular scale line 1723 is located on the center axis of vertical axis 175, pointer 1722 point to in circular scale line 1723.
The amplitude variation measuring unit 3 comprises a rotary grating ruler and a displacement sensor, wherein a fixed grating of the rotary grating ruler is connected with a trolley body of the amplitude variation trolley 14, a movable grating of the rotary grating ruler is connected with wheels of the amplitude variation trolley 14, and the displacement sensor is arranged at a lifting fixed pulley of the amplitude variation trolley 14;
The rotary grating ruler is used for measuring the rotation angle of the wheels of the luffing trolley 14 and then sending data to the data processing unit 6, and the data processing unit 6 calculates the horizontal moving distance of the luffing trolley 14 according to the rotation angle and the radius of the wheels;
the displacement sensor is used for measuring the rotation angle of the fixed pulley and sending data to the data processing unit 6, and the data processing unit 6 calculates the vertical movement distance of the lifting hook 15 according to the rotation angle and the radius of the fixed pulley.
The automatic monitoring device for the safe operation of the group tower further comprises an ultrasonic ranging radar, wherein the ultrasonic ranging radar is arranged on the side face of the lifting hook 15 and used for detecting the distance between the lifting hook 15 and a hung object.
The central control unit 5 comprises a singlechip, a display and an alarm module, wherein the display and the alarm module are connected with the singlechip;
the display is used for displaying the simulated working state of the tower crane 1 and the working state data of the tower crane 1;
the alarm module is used for giving an alarm by voice;
the singlechip is used for sending the processing data to the display for displaying and controlling the operation of the tower crane 1.
A control method of an automatic monitoring device for group tower safety operation, the control method comprising the following steps:
S1, group tower safety monitoring measures: the tower arm monitoring unit 2 measures the plane coordinates and the height of the rotation center of the tower crane big arm 12, the horizontal azimuth angle of the tower crane big arm 12 and the rotation angle of the tower crane 1, inputs the plane coordinates, the height, the horizontal azimuth angle and the rotation angle into the data processing unit 6, takes the plane coordinates and the height as three-dimensional coordinate reference values, calculates the space coordinates of the farthest end of the tower crane big arm 12 and the space coordinates of the farthest end of the tower crane side arm 13 by the data processing unit 6, automatically organizes the tower crane with space lap joints in a factory according to the reference parameters by the central control unit 5, carries out real-time dynamic calculation analysis on the space coordinates of the farthest ends of the tower crane big arm 12 and the tower crane side arm 13, and when the distance calculated by the software coordinates is larger than the safe distance of the tower crane, the tower crane 1 works normally; when the distance calculated by the software coordinates is close to the safe distance of the tower crane, the central control unit 5 carries out voice alarm; when the distance reversely calculated by the software coordinates is smaller than the safe distance of the tower crane, the central control unit 5 controls the tower crane 1 to stop working; the method comprises the steps of carrying out a first treatment on the surface of the
S2, monitoring the amplitude of the tower crane: the weight measuring unit 4 obtains the weight of the hung object, the central control unit 5 automatically sets the maximum horizontal displacement distance of the luffing trolley 14 according to the weight of the hung object, the amplitude change measuring unit 3 measures the horizontal displacement distance of the luffing trolley 14 and the vertical displacement distance of the lifting hook 15, when the horizontal displacement distance of the luffing trolley 14 is close to the maximum horizontal displacement distance, the central control unit 5 carries out voice alarm, and when the displacement distance of the luffing trolley 14 reaches the maximum horizontal displacement distance, the central control unit 5 controls the luffing trolley 14 to automatically reversely move for a certain distance; the data processing unit 6 calculates the real-time lifting height of the lifting hook 15 by subtracting the vertical moving distance of the lifting hook 15 from the height of the tower crane boom 12 measured by the total station, the central control unit 5 compares the real-time lifting height with the set maximum lifting height, when the lifting height of the lifting hook 15 is close to the maximum lifting height, the central control unit 5 carries out voice alarm, and when the lifting height of the lifting hook 15 reaches the maximum lifting height, the central control unit 5 controls the lifting hook 15 to stop working.
The principle of the invention is explained as follows:
the installation box 163 of the first monitor prism 16 comprises a top plate 1631, a bottom plate 1633 and two L-shaped side plates 1632, wherein the top plate 1631 and the bottom plate 1633 are respectively connected to the upper side and the lower side of an L-shaped fixed block 161, a horizontal bubble 164 is embedded in the upper side of the top plate 1631, the two L-shaped side plates 1632 are mutually connected and are positioned between the top plate 1631 and the bottom plate 1633, an installation cavity 1634 is formed by surrounding the top plate 1631, the bottom plate 1633, the two L-shaped side plates 1632 and the L-shaped fixed block 161, a battery 1637 and a circuit board 1636 are arranged in the installation cavity 1634, a solar bracket 168 and a switch 1610 are arranged on the upper side of the top plate 1631, a solar panel 169 is connected with the battery 1637, a first motor 1638, a second motor 16312, the switch 1610 and the battery 1637 are connected with the circuit board 1636, a rolling bearing 16 is connected between a first connecting shaft 11 and the top plate 1633, a worm gear 16 is connected between the second connecting shaft 15 and the L-shaped motor 165, and the first worm gear 16 and the first worm gear and the second worm gear mechanism is adopted by adopting a worm gear 12 and a worm gear 12. The outside of the power 1712 in the second monitoring prism 17 is provided with a baffle, the outside of the second motor 1713 is provided with a mounting cover, and the upper side of the mounting cover is provided with the same solar panel assembly as the first monitoring prism 16.
Before the tower crane 1 works, the first monitoring prism 16 is firstly installed on the tower body 11, the perpendicularity of the tower body 11 is measured through the total station to enable the tower body 11 to be perpendicular, then the second monitoring prism 17 is installed on the rotation center of the tower crane large arm 12, and after the second monitoring prism 17 is leveled, data of the first monitoring prism 16 and the second monitoring prism 17 are obtained to serve as initial three-dimensional coordinate values monitored by the tower crane.
N contact switches or induction devices can be arranged at the position of the whole meter of the track side of the luffing trolley 14 from the rotation center, when the luffing trolley 14 passes through the position, the luffing trolley is automatically triggered, and at the moment, the central control unit 5 can automatically correct data according to the distance corresponding to the device number. The amplitude change measuring unit 3 can also adopt a satellite positioning module, the satellite positioning module is connected with a side plate of the lifting hook 15 by adopting bolts, a solar panel is arranged beside the module for supplying power, wireless transmission is adopted for data, a stainless steel net cover is arranged around the module for anti-collision protection of the whole module, the three-dimensional coordinates of the lifting hook 15 can be measured in real time, and the plane coordinates are the same in the vertical direction, so that the plane coordinates of the lifting hook 15, namely the plane coordinates of the amplitude-changing trolley 14, measured by adopting the scheme can also be used for directly measuring the space elevation of the lifting hook 15 by the positioning module. The weight measuring unit 4 can adopt a weighing sensor, the weighing sensor is arranged at the fixed end of the hoisting wire rope of the luffing trolley 14 to measure the weight of the hoisted object, and the digital environment monitoring sensor is arranged on the tower cap to mainly monitor the information such as temperature, humidity, wind speed, wind direction, atmospheric pressure, optical rainfall and the like. The big arm 12 of the tower crane is provided with a camera to monitor the field environment. Differential mode transmission is performed by twisted pair wires at a place where the tower crane 1 is likely to be subjected to electromagnetic interference, so that common mode interference is reduced or aluminum foil is added for shielding.
The single-station tower crane 1 adopts a single-chip microcomputer for safety monitoring, and a plurality of ARM chips are adopted. The basic data of all the tower cranes 1 are input into the same field to be automatically analyzed through software, and the basic data are independently monitored if the basic data are not affected by each other, and the basic data are automatically networked under the condition of interference to enter a monitoring state of a group tower, enter a safe distance to alarm and automatically intervene, so that a hoisting accident is avoided.
In the high-strength unmanned operation place, three-dimensional coordinates or rotation angles, amplitude, lifting heights and the like can be remotely input through a computer, equipment such as a relay, an electromagnetic lifting sling and the like is added, unmanned operation is realized through action programming, the working data of the tower crane 1 can be transmitted to an enterprise equipment management department or a government monitoring platform through a GPRS network, and the system platform can be remotely controlled when necessary by displaying and storing the real-time data after receiving the real-time data.
Example 1:
referring to fig. 1 to 5, an automatic monitoring device for group tower safety operation comprises a tower arm monitoring unit 2, an amplitude variation measuring unit 3, a weight measuring unit 4, a central control unit 5 and a data processing unit 6, wherein the central control unit 5 is arranged in a cab, the data processing unit 6 is connected with the central control unit 5, the tower arm monitoring unit 2, the amplitude variation measuring unit 3 and the weight measuring unit 4 are connected with the data processing unit 6, the tower arm monitoring unit 2 is arranged on a tower body 11 and a tower crane boom 12, the amplitude variation measuring unit 3 is arranged on a lifting hook 15 and a luffing trolley 14, and the weight measuring unit 4 is arranged on the luffing trolley 14;
The tower arm monitoring unit 2 is used for acquiring the rotation speed of the tower crane 1, the three-dimensional coordinates of the ends of the tower crane boom 12 and the tower crane side arm 13, and sending data to the data processing unit 6;
the amplitude change measuring unit 3 is used for acquiring the moving distance of the lifting hook 15 and the amplitude changing trolley 14 and sending data to the data processing unit 6;
the weight measuring unit 4 is used for acquiring the weight of the suspended object and sending the data to the data processing unit 6;
the data processing unit 6 is configured to process the acquired data and send the processed data to the central control unit 5;
the central control unit 5 is used for displaying the data of the working state of the tower crane 1, controlling the operation of the tower crane 1, giving voice alarm and sending the data of the working state of the tower crane 1 to the enterprise system monitoring platform through a GPRS network.
The tower arm monitoring unit 2 comprises a first monitoring prism 16, a second monitoring prism 17, a total station and a multi-axis sensor, wherein the first monitoring prism 16 is arranged at the top of the tower body 11, the second monitoring prism 17 is arranged at the joint of the rotation center of the tower body 11 and the tower crane boom 12, the total station is arranged relative to the first monitoring prism 16 and the second monitoring prism 17, and the multi-axis sensor is arranged on the tower crane boom 12 right above the rotation center of the tower body 11;
The total station is used for calculating the verticality of the tower body 11 by measuring the plane coordinates of the first monitoring prism 16, obtaining the plane coordinates and the height of the rotation center of the tower crane boom 12 by measuring the three-dimensional coordinates of the second monitoring prism 17, and sending the data to the data processing unit 6;
the multi-axis sensor is used for measuring the horizontal azimuth angle of the tower crane boom 12 and the rotation speed of the tower crane 1, and sending data to the data processing unit 6.
The first monitoring prism 16 comprises an L-shaped fixed block 161 and an installation box 163, the L-shaped fixed block 161 is horizontally arranged, two ends of the L-shaped fixed block 161 are connected to a fixed column of the tower body 11 through fixing devices 162, the installation box 163 is connected to one side of the L-shaped fixed block 161, a horizontal bubble 164 is arranged on the upper side of the installation box 163, a first motor 1638 is arranged in the installation box 163, a first driving gear 1639 is arranged on an output shaft sleeve of the first motor 1638, a first driven gear 16310 is connected to the outer side of the first driving gear 1639 in an engaged mode, the first driven gear 16310 is sleeved on the first connecting shaft 16311, an output shaft of the first motor 1638 is mutually parallel to the first connecting shaft 16311, the first connecting shaft 11 is vertically arranged, one end of the first connecting shaft 11 penetrates through the installation box 163, the L-shaped support 165 is connected to one side of the L-shaped support 165, a second motor 1638 is arranged in the installation box, a first motor 16312 is arranged in the installation box, a second driving gear 16312 is arranged on the second protection box, a second output shaft sleeve of the second motor 16312 is meshed with the first driven gear 1639, the first driven gear 16310 is mutually parallel to the first connecting shaft 16315, the first connecting shaft 16315 is mutually connected to the second driving gear 13, and the second driving gear 16315 is mutually perpendicular to the first connecting shaft 166, and the first connecting shaft 16315 is mutually perpendicular to the first connecting shaft 15, and the first connecting shaft 16315 is mutually connected to the first output shaft 13, and the first connecting shaft 16315, and the first connecting shaft 13 is mutually parallel to the first connecting shaft 15, and the first connecting shaft 15.
The fixing device 162 comprises a buckling block 1621, a guide shaft 1622, a bushing 1624, a tension spring 1626 and a connecting block 1625, wherein sliding grooves 1623 are formed in two ends of the L-shaped fixing block 161, the bushing 1624 is sleeved on the guide shaft 1622 and is positioned in the sliding grooves 1623, one end of the guide shaft 1622 is positioned in the sliding grooves 1623, the other end of the guide shaft penetrates through the sliding grooves 1623 and then is connected with the buckling block 1621, the connecting block 1625 is connected with the end part of the L-shaped fixing block 161, one end of the tension spring 1626 is connected with the connecting block 1625, the other end of the tension spring 1621 is connected with the buckling block 1621, one side of the buckling block 1621 is abutted to the outer side of the tower crane 1, and one side of the buckling block 1621, which is close to the tower crane 1, is provided with a plurality of conical protrusions 1627.
The second monitoring prism 17 comprises a top plate 172 and a bottom plate 171 which are arranged at intervals up and down, a threaded hole 1716 is formed in the center of the bottom plate 171, a leveling device 173 is arranged on the upper side of the bottom plate 171, the leveling device 173 is connected with the top plate 172, a mounting groove 1717 is formed in the lower side of the top plate 172, a third motor 174 and a vertical shaft 175 are arranged in the mounting groove 1717, the output end of the third motor 174 is connected with a first small gear 176, the vertical shaft 175 is located at the center of the top plate 172, a first large gear 177 is sleeved on the outer peripheral surface of the lower end of the vertical shaft 175, the first large gear 177 is connected with the first small gear 176 in an engaged mode, the upper end of the vertical shaft 175 penetrates through the top plate 172 and is connected with a U-shaped frame 1710, the inner bottom wall of the U-shaped frame 178 is provided with a T-shaped horizontal bubble 179, two lateral sides of the U-shaped frame 178 are transversely provided with a cross shaft 1710, a prism head 1 is connected between the two lateral sides of the U-shaped frame 1713, the lateral sides of the U-shaped frame 1713 are provided with a second large gear 1713, the fourth motor 1713 is meshed with the fourth large gear 1713, the fourth lateral side 1713 is meshed with the fourth large gear 1713, and the fourth lateral side 1713 is connected with the fourth large gear 1714, and the fourth lateral side 1713 is meshed with the fourth power source 1714.
The upper side of roof 172 has seted up holding tank 1718, be provided with connecting bearing 1719 in the holding tank 1718, connecting bearing 1719's outer lane connect in the inner wall of holding tank 1718, connecting bearing 1719's inner race cover is located the outer peripheral face of vertical axis 175, still be provided with connecting post 1720 in the holding tank 1718, connecting post 1720's upside is connected with connecting plate 1721, connecting plate 1721 is circular, connecting plate 1721 and connecting post 1720 all overlap and locate vertical axis 175, connecting plate 1721 connect in the downside of U type frame 178, connecting plate 1721's upside is provided with pointer 1722, the upside of roof 172 is provided with circular scale line 1723, the center of circular scale line 1723 is located on the center axis of vertical axis 175, pointer 1722 point to in circular scale line 1723.
The amplitude variation measuring unit 3 comprises a rotary grating ruler and a displacement sensor, wherein a fixed grating of the rotary grating ruler is connected with a trolley body of the amplitude variation trolley 14, a movable grating of the rotary grating ruler is connected with wheels of the amplitude variation trolley 14, and the displacement sensor is arranged at a lifting fixed pulley of the amplitude variation trolley 14;
The rotary grating ruler is used for measuring the rotation angle of the wheels of the luffing trolley 14 and then sending data to the data processing unit 6, and the data processing unit 6 calculates the horizontal moving distance of the luffing trolley 14 according to the rotation angle and the radius of the wheels;
the displacement sensor is used for measuring the rotation angle of the fixed pulley and sending data to the data processing unit 6, and the data processing unit 6 calculates the vertical movement distance of the lifting hook 15 according to the rotation angle and the radius of the fixed pulley.
The automatic monitoring device for the safe operation of the group tower further comprises an ultrasonic ranging radar, wherein the ultrasonic ranging radar is arranged on the side face of the lifting hook 15 and used for detecting the distance between the lifting hook 15 and a hung object.
The central control unit 5 comprises a singlechip, a display and an alarm module, wherein the display and the alarm module are connected with the singlechip;
the display is used for displaying the simulated working state of the tower crane 1 and the working state data of the tower crane 1;
the alarm module is used for giving an alarm by voice;
the singlechip is used for sending the processing data to the display for displaying and controlling the operation of the tower crane 1.
A control method of an automatic monitoring device for group tower safety operation, the control method comprising the following steps:
S1, measuring the plane coordinates and the height of the rotation center of the tower crane boom 12 by a total station, inputting the initial coordinates into a data processing unit 5, taking the initial coordinates as a three-dimensional coordinate reference value calculated by the space attitude of the tower crane boom 12, measuring the horizontal azimuth angle of the tower crane boom by a 3-axis magnetic field of a multi-axis sensor, inputting the horizontal azimuth angle of the tower crane boom into a data processing unit 6, carrying out plane deformation monitoring on the tower crane boom 12 by the multi-axis sensor, determining the rotation speed of the tower crane 1 by the three-axis angular speed measured by the multi-axis sensor,
the data processing unit 6 calculates the space coordinate value of the foremost end of the tower crane boom 12 and the space coordinate value of the rearmost end of the tower crane side arm 13 according to the following formula;
X 1 ＝X 0 +L 1 cos a 1
Y 1 ＝Y 0 +L 1 sin a 1
Z 1 ＝Z 0 +L 1 tan a 2
X 2 ＝X 0 -L 2 cos a 1
Y 2 ＝Y 0 -L 2 sin a 1
Z 2 ＝Z 0 -L 2 tana 2
wherein X is 0 、Y 0 、Z 0 Plane abscissa, ordinate and elevation of the junction of the tower crane boom 12 and the center of rotation, L 1 For the length of the tower crane boom 12, L 2 For the length of the tower side arm 13, a 1 A is the horizontal azimuth angle of the tower crane boom 12 2 Is the vertical angle X of the tower crane boom 12 1 、Y 1 、Z 1 Respectively the abscissa, the ordinate and the elevation of the plane at the forefront end of the tower crane boom 12, X 2 、Y 2 、Z 2 The horizontal coordinate, the vertical coordinate and the elevation of the plane at the tail end of the tower crane side arm 13 respectively.
The central control unit 5 automatically networking the tower cranes with space lap joints in the factory according to the reference parameters, carrying out real-time dynamic calculation and analysis on the space coordinate values of the farthest ends of the big arms 12 and the side arms 13 of each tower crane, and when the distance reversely calculated by the software coordinates is greater than the safe distance of the tower crane, normally working the tower crane 1; when the distance calculated by the software coordinates is close to the safe distance of the tower crane, the central control unit 5 carries out voice alarm; when the distance reversely calculated by the software coordinates is smaller than the safe distance of the tower crane, the central control unit 5 controls the tower crane 1 to stop working;
S2, the weight measuring unit 4 obtains the weight of the suspended object, and the central control unit 5 sets the maximum horizontal displacement distance of the luffing trolley 14 and the maximum lifting height of the lifting hook 15 according to the following formula;
M resistance to ≥b*M Capsizing
M Resistance to ＝F 1 *L 3
M Capsizing ＝F 2 *S
h max >Z 1 -h
Wherein b is a safety coefficient selected according to the specification, F 1 Is the gravity center weight of the tower crane counterweight, L 3 To resist moment armLength (center of gravity to center of rotation distance), F 2 S is the maximum horizontal displacement distance of the luffing trolley 14, h, for the weight of the hoisted object max H is the vertical movement distance of the lifting hook 15 and is the maximum lifting height of the lifting hook 15;
the rotation type grating ruler measures the rotation angle of the wheels of the luffing trolley 14, the moving distance of the luffing trolley 14 can be calculated by utilizing a formula according to the rotation angle and the radius of the wheels, the rotation angle of the fixed pulley is measured by a displacement sensor, the total elongation of the steel wire rope is calculated according to the distance from the center of the fixed pulley to the center of the steel wire rope as the radius, the actual vertical lifting value of the lifting hook 15 is obtained by dividing the elongation value of the steel wire rope by the multiplying power of the pulley block, the space height absolute value 15 of the lifting hook can be calculated by subtracting the vertical lifting value from the height of the tower crane boom 12, data are input into the data processing unit 6, the data processing unit 6 calculates to obtain the three-dimensional coordinates of the luffing trolley 14 and the lifting hook 15, when the moving distance of the luffing trolley 14 reaches the maximum horizontal displacement distance, the central control unit 5 carries out voice alarm, and when the moving distance of the luffing trolley 14 reaches the maximum horizontal displacement distance, the central control unit 5 controls the luffing trolley 14 to automatically reversely move for a certain distance.
Example 2:
the basic content is the same as in example 1, except that:
referring to fig. 6 to 10, the monitoring prism 16 includes an L-shaped fixing block 161 and a mounting box 163, the L-shaped fixing block 161 is horizontally disposed, two ends of the L-shaped fixing block 161 are connected to a fixing column of the tower 11 through a fixing device 162, the mounting box 163 is connected to one side of the L-shaped fixing block 161, a horizontal bubble 164 is disposed on the upper side of the mounting box 163, a first motor 1638 is disposed in the mounting box 163, an output end of the first motor 1638 is connected with a first connecting shaft 16311, the first connecting shaft 16311 is vertically disposed, one end of the first connecting shaft 16311 is connected with an L-shaped bracket 165 after passing through the mounting box 163, one side of the L-shaped bracket 165 is provided with a protective cover 167, a second motor 16312 is disposed in the protective cover 167, an output end of the second motor 16312 is connected with a second connecting shaft 16315, the second connecting shaft 16315 is horizontally disposed, one end of the second connecting shaft 16315 is connected with a prism 166 after passing through the L-shaped bracket 165, one side of the prism 166 is provided with a laser head 1, the prism 166 is disposed perpendicularly to the first connecting shaft 16315 and is perpendicularly intersecting the first shaft 16315 with the first shaft 16315; the output shaft sleeve of the first motor 1638 is provided with a first driving gear 1639, a first driven gear 16310 is connected to the outer side of the first driving gear 1639 in a meshed manner, the first driven gear 16310 is sleeved on the first connecting shaft 16311, the output shaft of the first motor 1638 is parallel to the first connecting shaft 16311, the output shaft sleeve of the second motor 16312 is provided with a second driving gear 16313, a second driven gear 16314 is connected to the outer side of the second driving gear 16313 in a meshed manner, the second driven gear 16314 is sleeved on the second connecting shaft 16315, and the output shaft of the second motor 16312 is parallel to the second connecting shaft 16315; the fixing device 162 comprises a buckling block 1621, a guide shaft 1622, a bushing 1624, a tension spring 1626 and a connecting block 1625, wherein sliding grooves 1623 are formed in two ends of the L-shaped fixing block 161, the bushing 1624 is sleeved on the guide shaft 1622 and is positioned in the sliding grooves 1623, one end of the guide shaft 1622 is positioned in the sliding grooves 1623, the other end of the guide shaft penetrates through the sliding grooves 1623 and then is connected with the buckling block 1621, the connecting block 1625 is connected with the end part of the L-shaped fixing block 161, one end of the tension spring 1626 is connected with the connecting block 1625, the other end of the tension spring 1621 is connected with the buckling block 1621, one side of the buckling block 1621 is abutted to the outer side of the tower crane 1, and one side of the buckling block 1621, which is close to the tower crane 1, is provided with a plurality of conical protrusions 1627.
Example 3:
the basic content is the same as in example 1, except that:
referring to fig. 11-16, the second monitoring prism 17 includes a top plate 172 and a bottom plate 171 that are disposed at an upper-lower interval, a threaded hole 1716 is disposed at the center of the bottom plate 171, a leveling device 173 is disposed at the upper side of the bottom plate 171, the leveling device 173 is connected with the top plate 172, a mounting groove 1717 is disposed at the lower side of the top plate 172, a third motor 174 and a vertical shaft 175 are disposed in the mounting groove 1717, an output end of the third motor 174 is connected with a first pinion 176, the vertical shaft 175 is disposed at the center of the top plate 172, a first large gear 177 is disposed on the outer circumferential surface of the lower end of the vertical shaft 175 in a sleeved mode, the first large gear 177 is connected with the first pinion 176 in an engaged mode, the upper end of the vertical shaft 175 passes through the top plate 172 and is connected with a U-shaped frame 178, a T-shaped horizontal bubble 179 is disposed on the inner bottom wall of the U-shaped frame 178, a transverse shaft 1711 is disposed in the two lateral sides of the U-shaped frame 178, a second lateral shaft 1713 is connected with the first lateral shaft 1711, a second lateral shaft 1713 is disposed at the second lateral shaft 1713 is connected with the second lateral shaft 1713, a fourth lateral shaft 1713 is disposed near the second lateral shaft 1713 and is connected with the fourth lateral shaft 1713, and a fourth lateral shaft 1713 is disposed near the second lateral shaft 1713 is connected with the fourth lateral shaft 1713. The upper side of roof 172 has seted up holding tank 1718, be provided with connecting bearing 1719 in the holding tank 1718, connecting bearing 1719's outer lane connect in the inner wall of holding tank 1718, connecting bearing 1719's inner race cover is located the outer peripheral face of vertical axis 175, still be provided with connecting post 1720 in the holding tank 1718, connecting post 1720's upside is connected with connecting plate 1721, connecting plate 1721 is circular, connecting plate 1721 and connecting post 1720 all overlap and locate vertical axis 175, connecting plate 1721 connect in the downside of U type frame 178, connecting plate 1721's upside is provided with pointer 1722, the upside of roof 172 is provided with circular scale line 1723, the center of circular scale line 1723 is located on the center axis of vertical axis 175, pointer 1722 point to in circular scale line 1723.
Example 4:
the basic content is the same as in example 1, except that:
the amplitude change measuring unit 3 comprises a satellite positioning module, the satellite positioning module is connected with the lifting hook side plate by bolts, a solar panel is arranged beside the module for supplying power, wireless transmission is adopted for data, and a stainless steel mesh enclosure is arranged around the module.
Example 5:
the basic content is the same as in example 1, except that:
the weight measuring unit 4 comprises a resistance strain gauge and a temperature compensation patch, wherein the resistance strain gauge is arranged at the root of the tower crane large arm 12 for weighing, and the temperature compensation patch is arranged on a metal plate which is not stressed beside for compensating the temperature.
Example 6:
the basic content is the same as in example 1, except that:
the automatic monitoring device for the safe operation of the group tower further comprises an ultrasonic ranging radar, the ultrasonic ranging radar is arranged on the side face of the lifting hook 15, and the distance between the lifting hook 15 and the lifted object is calculated according to the following formula:
L＝C×T
wherein L is the measured distance length; c is the propagation speed of ultrasonic waves in the air; t is half the transmit-to-receive time value.
Claims (10)
1. Automatic monitoring device of group tower safety operation, its characterized in that: the device comprises a tower arm monitoring unit (2), an amplitude variation measuring unit (3), a weight measuring unit (4), a central control unit (5) and a data processing unit (6), wherein the central control unit (5) is installed in a cab, the data processing unit (6) is connected with the central control unit (5), the tower arm monitoring unit (2), the amplitude variation measuring unit (3) and the weight measuring unit (4) are connected with the data processing unit (6), the tower arm monitoring unit (2) is installed on a tower body (11) and a tower crane boom (12), the amplitude variation measuring unit (3) is installed on a lifting hook (15) and a luffing trolley (14), and the weight measuring unit (4) is installed on the luffing trolley (14);
The tower arm monitoring unit (2) is used for acquiring the rotation speed of the tower crane (1), the three-dimensional coordinates of the ends of the tower crane large arm (12) and the tower crane side arm (13), and transmitting data to the data processing unit (6);
the amplitude change measuring unit (3) is used for acquiring the moving distance of the lifting hook (15) and the amplitude changing trolley (14) and sending data to the data processing unit (6);
the weight measuring unit (4) is used for acquiring the weight of the hung object and sending the data to the data processing unit (6);
the data processing unit (6) is used for processing the acquired data and sending the processed data to the central control unit (5);
the central control unit (5) is used for displaying the data of the working state of the tower crane (1), controlling the operation of the tower crane (1), giving voice alarm and sending the working state data of the tower crane (1) to the enterprise system monitoring platform through the GPRS network.
2. The automatic monitoring device for safe operation of a tower according to claim 1, wherein: the tower arm monitoring unit (2) comprises a first monitoring prism (16), a second monitoring prism (17), a total station and a multi-axis sensor, wherein the first monitoring prism (16) is arranged at the top of the tower body (11), the second monitoring prism (17) is arranged at the joint of the rotation center of the tower body (11) and the tower crane boom (12), the total station is arranged relative to the first monitoring prism (16) and the second monitoring prism (17), and the multi-axis sensor is arranged on the tower crane boom (12) right above the rotation center of the tower body (11);
The total station is used for calculating the verticality of the tower body (11) after measuring the plane coordinates of the first monitoring prism (16), obtaining the plane coordinates and the height of the rotation center of the tower crane large arm (12) by measuring the three-dimensional coordinates of the second monitoring prism (17), and sending data to the data processing unit (6);
the multi-axis sensor is used for measuring the horizontal azimuth angle of the tower crane boom (12) and the rotation speed of the tower crane (1) and sending data to the data processing unit (6).
3. The automatic monitoring device for safe operation of a tower according to claim 1, wherein: the first monitoring prism (16) comprises an L-shaped fixed block (161) and a mounting box (163), the L-shaped fixed block (161) is horizontally arranged, two ends of the L-shaped fixed block (161) are connected to a fixed column of the tower body (11) through fixing devices (162), the mounting box (163) is connected to one side of the L-shaped fixed block (161), a horizontal bubble (164) is arranged on the upper side of the mounting box (163), a first motor (1638) is arranged in the mounting box (163), a first driving gear (1639) is arranged on an output shaft sleeve of the first motor (1638), a first driven gear (16310) is connected to the outer side of the first driving gear (1639) in a meshed mode, the first driven gear (16310) is sleeved on the first connecting shaft (167) and an output shaft (16311) of the first motor (8) is mutually parallel to the first connecting shaft (16311), one end of the first connecting shaft (16311) is vertically arranged and penetrates through the mounting box (163) to be connected with a first driving gear (165) and a second driving gear (13) is arranged on the outer side of the first driving gear (165), the second driven gear (16314) is sleeved on the second connecting shaft (16315), an output shaft of the second motor (16312) is parallel to the second connecting shaft (16315), the second connecting shaft (16315) is horizontally arranged, one end of the second connecting shaft penetrates through the L-shaped support (165) and then is connected with the prism (166), one side of the prism (166) is provided with the laser head (1611), the prism (166) is arranged relative to the total station, and the first connecting shaft (16311) and the second connecting shaft (16315) are mutually perpendicular and mutually intersected.
4. A tower safety operation automatic monitoring device according to claim 3, wherein: fixing device (162) are including buckling briquetting (1621), guiding axle (1622), bush (1624), extension spring (1626), connecting block (1625), spout (1623) have all been seted up at the both ends of L type fixed block (161), bush (1624) cover is located guiding axle (1622) just are located in spout (1623), the one end of guiding axle (1622) is located spout (1623), the other end pass behind spout (1623) connect in buckling briquetting (1621), connecting block (1625) connect in the tip of L type fixed block (161), one end of extension spring (1626) connect in connecting block (1625), the other end connect in buckling briquetting (1621), one side butt of buckling briquetting (1621) is in the outside of tower crane (1), one side that buckling briquetting (1621) is close to tower crane (1) is provided with a plurality of toper protruding (1627).
5. The automatic monitoring device for safe operation of a tower according to claim 1, wherein: the second monitoring prism (17) comprises a top plate (172) and a bottom plate (171) which are arranged at intervals up and down, a threaded hole (1716) is formed in the center of the bottom plate (171), a leveling device (173) is arranged on the upper side of the bottom plate (171), the leveling device (173) is connected with the top plate (172), a mounting groove (1717) is formed in the lower side of the top plate (172), a third motor (174) and a vertical shaft (175) are arranged in the mounting groove (1717), the output end of the third motor (174) is connected with a first pinion (176), the vertical shaft (175) is located at the center of the top plate (172), a first large gear (177) is sleeved on the outer peripheral surface of the lower end of the vertical shaft (175), the first large gear (177) is connected with the first pinion (176) in a meshed mode, the upper end of the vertical shaft (175) penetrates through the top plate (172) and is connected with a U-shaped frame (178), the inner bottom wall (178) of the U-shaped frame (178) is provided with a horizontal shaft (1710), one side portion (1710) is connected with one of the two side portions (1713) of the two side portions of the U-shaped prisms (1710), the output end of the fourth motor (1713) is provided with a second pinion (1714), a second large gear (1715) is arranged at the end part of the transverse shaft (1710) close to the fourth motor (1713), the second large gear (1715) is connected with the second pinion (1714) in a meshed mode, the third motor (174) and the fourth motor (1713) are connected with a power supply (1712), and the axial lead of the vertical shaft (175) and the axial lead of the transverse shaft (1710) are mutually perpendicular and intersected.
6. The automatic monitoring device for safe operation of a tower according to claim 5, wherein: the utility model discloses a convenient and fast speed measuring device for the automobile, including roof (172) and connecting rod (1721), holding tank (1718) have been seted up to the upside of roof (172), be provided with connecting bearing (1719) in holding tank (1718), the outer lane of connecting bearing (1719) connect in the inner wall of holding tank (1718), the inner race cover of connecting bearing (1719) is located the outer peripheral face of vertical axis (175), still be provided with spliced pole (1720) in holding tank (1718), the upside of spliced pole (1720) is connected with connecting plate (1721), connecting plate (1721) are circular, connecting plate (1721) and spliced pole (1720) all overlap to be located vertical axis (175), connecting plate (1721) connect in the downside of U type frame (178), the upside of connecting plate (1721) is provided with pointer (1722), the upside of roof (172) is provided with circular scale mark (1723), the center of circular scale mark (1723) is located on the center axis of vertical axis (175), point to pointer (1722).
7. The automatic monitoring device for safe operation of a tower according to claim 1, wherein: the amplitude change measuring unit (3) comprises a rotary grating ruler and a displacement sensor, wherein a fixed grating of the rotary grating ruler is connected with a vehicle body of the amplitude changing trolley (14), a movable grating of the rotary grating ruler is connected with wheels of the amplitude changing trolley (14), and the displacement sensor is arranged at a lifting fixed pulley of the amplitude changing trolley (14);
The rotary grating ruler is used for measuring the rotation angle of the wheels of the luffing trolley (14) and then sending data to the data processing unit (6), and the data processing unit (6) calculates the horizontal moving distance of the luffing trolley (14) according to the rotation angle and the radius of the wheels;
the displacement sensor is used for measuring the rotation angle of the fixed lifting pulley and sending data to the data processing unit (6), and the data processing unit (6) calculates the vertical movement distance of the lifting hook (15) according to the rotation angle and the radius of the fixed lifting pulley.
8. The automatic monitoring device for safe operation of a tower according to claim 1, wherein: the automatic monitoring device for the safe operation of the group tower further comprises an ultrasonic ranging radar, wherein the ultrasonic ranging radar is arranged on the side face of the lifting hook (15) and used for detecting the distance between the lifting hook (15) and a hung object.
9. The automatic monitoring device for safe operation of a tower according to claim 1, wherein: the central control unit (5) comprises a singlechip, a display and an alarm module, and the display and the alarm module are connected with the singlechip;
the display is used for displaying the simulated working state of the tower crane (1) and the working state data of the tower crane (1);
The alarm module is used for giving an alarm by voice;
the singlechip is used for sending the processing data to the display for displaying and controlling the operation of the tower crane (1).
10. A control method of an automatic monitoring device for safety operation of a group tower according to claim 1, characterized in that: the control method comprises the following steps:
s1, group tower safety monitoring measures: the tower arm monitoring unit (2) measures the plane coordinates and the height of the rotation center of the tower crane boom (12), the horizontal azimuth angle of the tower crane boom (12) and the rotation angle of the tower crane (1), the plane coordinates, the height, the horizontal azimuth angle and the rotation angle are input into the data processing unit (6), the plane coordinates and the height are used as three-dimensional coordinate reference values, the data processing unit (6) calculates the space coordinates of the farthest end of the tower crane boom (12) and the space coordinates of the farthest end of the tower crane side arm (13), the central control unit (5) automatically groups the tower crane with space lap joints in a factory according to the reference parameters, the space coordinates of the farthest ends of each tower crane boom (12) and the tower crane side arm (13) are dynamically calculated and analyzed in real time, and when the distance calculated by the software coordinates is larger than the safe distance of the tower crane, the tower crane (1) works normally; when the distance calculated by the software coordinates is close to the safe distance of the tower crane, the central control unit (5) carries out voice alarm; when the distance reversely calculated by the software coordinates is smaller than the safe distance of the tower crane, the central control unit (5) controls the tower crane (1) to stop working; the method comprises the steps of carrying out a first treatment on the surface of the
S2, monitoring the amplitude of the tower crane: the weight measuring unit (4) acquires the weight of a hung object, the central control unit (5) automatically sets the maximum horizontal displacement distance of the luffing trolley (14) according to the weight of the hung object, the amplitude change measuring unit (3) measures the horizontal displacement distance of the luffing trolley (14) and the vertical displacement distance of the lifting hook (15), when the horizontal displacement distance of the luffing trolley (14) is close to the maximum horizontal displacement distance, the central control unit (5) carries out voice alarm, and when the displacement distance of the luffing trolley (14) reaches the maximum horizontal displacement distance, the central control unit (5) controls the luffing trolley (14) to automatically reversely move for a certain distance; the data processing unit (6) calculates the real-time lifting height of the lifting hook (15) by subtracting the vertical moving distance of the lifting hook (15) from the height of the tower crane boom (12) measured by the total station, the central control unit (5) compares the real-time lifting height with the set maximum lifting height, when the lifting height of the lifting hook (15) is close to the maximum lifting height, the central control unit (5) carries out voice alarm, and when the lifting height of the lifting hook (15) reaches the maximum lifting height, the central control unit (5) controls the lifting hook (15) to stop working.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310343563.XA CN116495624A (en) | 2023-03-29 | 2023-03-29 | Automatic monitoring device for safe operation of group towers and control method thereof |
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| CN202310343563.XA CN116495624A (en) | 2023-03-29 | 2023-03-29 | Automatic monitoring device for safe operation of group towers and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117105097A (en) * | 2023-10-23 | 2023-11-24 | 杭州未名信科科技有限公司 | Intelligent tower crane control system, method and control equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117105097A (en) * | 2023-10-23 | 2023-11-24 | 杭州未名信科科技有限公司 | Intelligent tower crane control system, method and control equipment |
| CN117105097B (en) * | 2023-10-23 | 2024-04-02 | 杭州未名信科科技有限公司 | Intelligent tower crane control system, method and control equipment |
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