CN210366744U - Safety hoisting control system of front crane - Google Patents
Safety hoisting control system of front crane Download PDFInfo
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- CN210366744U CN210366744U CN201920972044.9U CN201920972044U CN210366744U CN 210366744 U CN210366744 U CN 210366744U CN 201920972044 U CN201920972044 U CN 201920972044U CN 210366744 U CN210366744 U CN 210366744U
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Abstract
The utility model provides a openly hang safety and lift by crane control system, including identification module, measuring module, lift by crane the module safely and prevent the tipping module. The identification module collects images through a camera, performs image identification and judges whether the working condition is that the train flat car unloads the container; the measuring module measures the lengths of the telescopic oil cylinder and the pitching oil cylinder in real time through a laser ranging sensor, and measures the lifting force of the container in real time through four rotary-lock type tension pressure sensors on the lifting appliance; the safe lifting module judges the relative position of the container and the floor of the flat car in the lifting process according to the data acquired by the twist-lock type pull pressure sensor, and controls the lifting speed and direction of the lifting appliance based on the data acquired by the measuring module, so that the bottom corner piece of the container is smoothly separated from the F-TR lock on the flat car, and the damage and derailment of the vehicle are avoided; the anti-tipping module is more accurate and reliable compared with the existing face-lift anti-tipping system due to the consideration of the actual gravity center position of the container.
Description
Technical Field
The utility model relates to a openly hang control system technical field, especially relate to a lift by crane control system who unloads container from train flatcar.
Background
The front-side crane is commonly used in railway freight yards for loading, unloading and stacking containers. The existing front-side lifting appliance has the functions of vertical lifting and anti-tipping, but when a container is unloaded from a flat car, the bottom corner piece of the box body and the F-TR lock of the flat car can be unhooked, and even the flat car is lifted. Chinese utility model, with patent number CN201520132108.6, discloses a safe control system that lifts by crane, has installed proximity switch between the upper and lower framves of hoist, and proximity switch triggers when certain corner appears in the upper and lower framves to lift by crane with the restriction, can play the effect that certain prevention train F-TR lock mistake was lifted by crane. However, the technology of the patent does not detect and control the lifting process, so that a safety lifting control scheme needs to be further improved.
SUMMERY OF THE UTILITY MODEL
To the shortcoming of prior art, the utility model provides a can control the control system who openly lifts by crane speed and direction prevents to appear not unhook because of F-TR lock leads to the accident that the flatcar was lifted by crane when unloading the container from the flatcar to prevent to openly to hang and overturn.
In order to solve the technical problem, the utility model provides a openly hang safety and lift by crane control system, include: the system comprises an identification module, a measurement module, a safe hoisting module and an anti-tipping module;
the identification module collects images through a camera, performs image identification and judges whether the working condition is that the train flat car unloads the container;
the measuring module is used for measuring the lengths of the telescopic oil cylinder and the pitching oil cylinder in real time through a laser ranging sensor and measuring the lifting force of the container in real time through four rotary-lock type tension pressure sensors on the lifting appliance;
the safety hoisting module is used for controlling the bottom corner fitting of the container to be smoothly separated from the F-TR lock on the flat car;
the anti-tipping module is used for controlling the lifting speed and the lifting direction based on the data acquired by the measuring module;
the identification module is connected with the safe hoisting module, and the judgment result of the identification module is used as a parameter to be input into the safe hoisting module;
the measuring module is respectively connected with the safe hoisting module and the anti-tipping module, and the acquisition values of the laser ranging sensor and the twist-lock type pull pressure sensor are used as parameters to be input into the safe hoisting module and the anti-tipping module;
the safe hoisting module judges the relative position of the container and the floor of the flatcar in the hoisting process according to the data acquired by the twist-lock type pull pressure sensor, and is connected with corresponding oil pumps of the front-lift telescopic oil cylinder, the pitching oil cylinder and the lifting appliance moving oil cylinder to control the flow of the oil pumps;
and the anti-tipping module is connected with corresponding oil pumps of the front-face lifting telescopic oil cylinder and the pitching oil cylinder to control the flow of the oil pumps.
The identification module comprises: a camera is arranged in the front-lift cab to monitor the loading and unloading working condition of the container in real time; and when the loading and unloading operation condition of image recognition is that the container is unloaded from the flat car, sending an instruction to the safe hoisting module, and starting a safe hoisting program.
The measurement module includes:
the first laser ranging sensor and the second laser ranging sensor are respectively arranged at the bottom end of the arm support and the bottom end of the pitching oil cylinder, the first baffle and the second baffle are respectively arranged at the top of the telescopic oil cylinder and the top of the pitching oil cylinder, and the lengths of the telescopic oil cylinder and the pitching oil cylinder are respectively measured in real time;
the four twist-lock type pull pressure sensors respectively measure the lifting force of four twist locks of the container;
the data acquisition unit is provided with at least 4 paths of high-speed analog quantity inputs and is used for acquiring signals of four twist-lock type pull pressure sensors;
the wireless communicator respectively transmits the 4-path twist-lock type pulling pressure values to the safe hoisting module and the anti-tipping module.
Preferably, the data collector is a distributed collection module convenient for disassembly of the twist-lock type pull pressure sensor.
The utility model discloses a length of flexible hydro-cylinder of laser rangefinder sensor real-time measurement and every single move hydro-cylinder, through four twistlocks on the hoist draw pressure sensor real-time measurement container's lifting power, control hoist lifting speed and direction based on the data of gathering to realize that F-TR lock breaks away from smoothly on container bottom corner fittings and the flatcar, avoid the vehicle to damage, derail. And, the utility model discloses the actual focus position of container has been considered to the anti-tilt scheme, compares that current openly hangs anti-tilt system more accurate reliable.
Drawings
The technical solution of the present invention will be further specifically described below with reference to the accompanying drawings and the detailed description.
Fig. 1 is the structural principle schematic diagram of the safety hoisting control system of the front crane of the utility model.
Fig. 2 is a control schematic diagram of the safe hoisting control system of the front crane.
Description of reference numerals:
1-hanging the front surface; 2-a first laser ranging sensor; 3-a first baffle; 4-arm support; 5, a telescopic oil cylinder; 6-lifting the hanger; 7-twist-lock pull pressure sensor; 8-a second laser ranging sensor; 9-a second baffle; 10-a container; 11-a pitching oil cylinder; 12-a camera; 13-a data collector; 14-wireless communicator.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 2, the recognition module collects images through the camera, performs image recognition, and judges whether the working condition is a working condition for unloading containers from a train flat car; the measuring module is used for measuring the lengths of the telescopic oil cylinder and the pitching oil cylinder in real time through a laser ranging sensor and measuring the lifting force of the container in real time through four rotary-lock type tension pressure sensors on the lifting appliance; the safety hoisting module is used for controlling the bottom corner fitting of the container to be smoothly separated from the F-TR lock on the flat car; the anti-tipping module is used for controlling the lifting speed and the lifting direction based on the data acquired by the measuring module; the identification module is connected with the safe hoisting module, and the judgment result of the identification module is used as a parameter to be input into the safe hoisting module; the measuring module is respectively connected with the safe hoisting module and the anti-tipping module, and the acquisition values of the laser ranging sensor and the twist-lock type pull pressure sensor are used as parameters to be input into the safe hoisting module and the anti-tipping module;
as shown in fig. 1, the identification module selects a wireless WIFI camera 12, is installed in a reach stacker cab, monitors the container loading and unloading operation condition in real time, and sends an instruction to the safe lifting module to start a safe lifting program when the image recognition algorithm determines that the loading and unloading operation condition is that a container is unloaded from a flatcar.
The measuring module of the utility model selects the first laser ranging sensor 2 and the second laser ranging sensor 8 with the measuring range of 30m and the precision of 1mm, the two laser ranging sensors are respectively arranged at the bottom end of the arm support 4 and the bottom end of the pitching oil cylinder 11, the corresponding first baffle 3 and the second baffle 9 are respectively arranged at the top of the telescopic oil cylinder 5 and the top of the pitching oil cylinder 11, the lengths of the telescopic oil cylinder 5 and the pitching oil cylinder 11 are respectively measured in real time, the pitching angle β of the arm support 4 is determined by utilizing a cosine function formula,
the lifting force of each twist lock is measured by selecting 4 twist lock type pull pressure sensors 7 with the measuring range of 15t, the data acquisition unit 13 selects distributed acquisition modules which have at least 4 paths of high-speed analog quantity input and are convenient to disassemble between the twist lock type pull pressure sensors 7 and the front crane control system, and the wireless communicator 14 transmits 4 paths of force values to the front crane control system by adopting a ZigBee wireless data transmission network.
The safe lifting module judges the relative position of the container with the flatcar floor in the lifting process according to the data collected by the twist lock type tension pressure sensor, and is electrically connected with corresponding oil pumps of the reach stacker telescopic oil cylinder 5, the pitching oil cylinder 11 and the lifting appliance moving oil cylinder respectively to control the oil pump flow of the reach stacker telescopic oil cylinder 5, the pitching oil cylinder 11 and the lifting appliance moving oil cylinder respectively. The anti-tipping module is electrically connected with corresponding oil pumps of the front-lift telescopic oil cylinder 5 and the pitching oil cylinder 11 respectively to control the oil pump flow of the front-lift telescopic oil cylinder 5 and the pitching oil cylinder 11.
For the convenience of understanding the utility model discloses, the control method of openly hanging safety lifting by crane control system is described further below, including following step:
step i, when the identification module confirms that the working condition is that the container is unloaded from the flat car, the safe hoisting module controls the F-TR lock on the flat car to be unlocked, so that the corner fitting at the bottom of the container is separated from the F-TR lock on the flat car;
step ii, the safe hoisting module limits oil pumps of the telescopic oil cylinder and the pitching oil cylinder to be output at a small flow rate, so that the hoisting tool is hoisted slowly;
step iii, detecting four rotary locking type pulling pressure sensors in real time in the lifting process, and when the sum of the force values of the four rotary locking type pulling pressure sensors is larger than a threshold value F0When the container is not unhooked from the F-TR lock of the flat car, the front crane stops lifting, the flat car body is prevented from being dragged due to lifting of the container 10, damage and derailment of the flat car are avoided, and the step iv is carried out; otherwise, entering step v;
step iv, controlling the telescopic oil cylinder, the pitching oil cylinder and the lifting appliance moving oil cylinder to act, and returning to the step ii-step iii after adjusting the poses of the lifting appliance 6 and the container 10;
and v, after the container is lifted for a set distance, releasing the flow limitation of oil pumps of the telescopic oil cylinder and the pitching oil cylinder, and quickly lifting. The empirical value for the set distance is 80mm to 110 mm.
In the above steps ii to v, the anti-tipping module calculates the tipping moment M of the container relative to the front wheel of the reach stacker in real timeCollection，
Wherein L is7The distance from the center of gravity of the container to the center of front wheel of the front crane, F1，F2，F3，F4The force values of the 4 rotary locking type pull pressure sensors are respectively;
when M isCollectionAnd when a certain threshold value is reached, the anti-tipping module stops the action of each hydraulic oil cylinder and sends a tipping warning to a driver.
The space coordinate of the gravity center G of the container 10 can be determined by 4 twist-lock pull pressure sensors 7, and the horizontal distance L from the G to the front wheel of the reach stacker7From the elevation angle β of the arm support 4 and the length L of the telescopic oil cylinder 56Force values F of 4 twist-lock pull pressure sensors 71，F2，F3，F4Determination of L7＝f(β,L6,F1,F2,F3,F4). The anti-tipping module is more accurate and reliable compared with the existing face-lift anti-tipping technology due to the consideration of the actual gravity center position of the container.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the scope of the claims of the present invention.
Claims (3)
1. A front crane safety hoisting control system is characterized by comprising: the system comprises an identification module, a measurement module, a safe hoisting module and an anti-tipping module;
the identification module comprises: the camera is arranged in the reach stacker cab and is used for monitoring the loading and unloading operation working condition of the container in real time;
the measuring module comprises a first laser ranging sensor, a second laser ranging sensor, a data acquisition unit, a wireless communicator and a twist lock type pull pressure sensor, wherein the first laser ranging sensor and the second laser ranging sensor are respectively arranged at the bottom end of the arm support and the bottom end of the pitching oil cylinder, and a first baffle and a second baffle are respectively arranged at the top ends of the telescopic oil cylinder and the pitching oil cylinder;
the identification module is connected with the safe hoisting module;
the measuring module is respectively connected with the safe hoisting module and the anti-tipping module;
the safe hoisting module is connected with corresponding oil pumps of the front-face hoisting telescopic oil cylinder, the pitching oil cylinder and the hoisting tool moving oil cylinder;
and the anti-tipping module is connected with the front-face hanging telescopic oil cylinder and the pitching oil cylinder through corresponding oil pumps.
2. The reach stacker safety lifting control system according to claim 1, wherein the number of the twist-lock type tension pressure sensors is four, and the four twist-lock type tension pressure sensors are respectively installed at four vertex angles of the container; the data collector is provided with at least 4 high-speed analog input ports.
3. The face lift safety hoist control system of claim 2, wherein the data collector is a distributed collection module that facilitates disassembly of a twist-lock pull pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920972044.9U CN210366744U (en) | 2019-06-26 | 2019-06-26 | Safety hoisting control system of front crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920972044.9U CN210366744U (en) | 2019-06-26 | 2019-06-26 | Safety hoisting control system of front crane |
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| CN210366744U true CN210366744U (en) | 2020-04-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114873469A (en) * | 2022-06-02 | 2022-08-09 | 宜昌精联电子科技有限公司 | FTR unhooking passive automatic detection system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114873469A (en) * | 2022-06-02 | 2022-08-09 | 宜昌精联电子科技有限公司 | FTR unhooking passive automatic detection system and method |
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