CN100358796C - Safety controller for running hoist - Google Patents
Safety controller for running hoist Download PDFInfo
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- CN100358796C CN100358796C CNB2004100175943A CN200410017594A CN100358796C CN 100358796 C CN100358796 C CN 100358796C CN B2004100175943 A CNB2004100175943 A CN B2004100175943A CN 200410017594 A CN200410017594 A CN 200410017594A CN 100358796 C CN100358796 C CN 100358796C
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Abstract
The present invention provides a safety controller for running hoists, which comprises a first height detection device, a second height detection device and a central control unit, wherein the first height detection device arranged on a trolley is used for measuring the height Hq of the surface of goods on the surface of a storage yard on a trolley traveling path; the second detection device arranged above a hoisting tool is used for measuring the height Hd of the bottom of the hoisting tool in empty hoisting or the height Hj of the bottom of hoisted goods; the central control unit connected with the first height detection device and the second height detection device is used for controlling the running of the trolley. When Hd or Hj is not greater than Hq, the central control unit sends out safety control signals to control the trolley to run in a decelerated safety mode. The safety controller for running hoists of the present invention ensures that hoisting tools or hoisted goods can not bump over goods in front of the running line, so that hoists can run in a parabola way in running. The present invention saves running time, greatly enhances work productive efficiency, and prevent the accident of bumping over.
Description
Technical field
The present invention relates to a kind of safety control, particularly a kind of crane safe in operation control setup.
Background technology
Along with the particularly development of freight container traffic of harbour goods transport, harbour, stockyard and other items be going from strength to strength of the collecting and distributing ground of freight container for example, the storage yard operation amount constantly increases, security issues become increasingly urgent for the crane operation of goods, and the safety that how to guarantee the goods yard operation is the essential problem that solves of freight department.The handling of existing goods adopts tyre crane (claiming a bridge again) to use suspender that freight container is carried out loading and unloading operation, suspender is sling goods, hoist or the operation that descends in vertical direction, do operation forward or backward in company with dolly in the horizontal direction, complete machine again can be with moving about cart.Like this, can be with goods from hang oneself any position, stockyard of appointment of automobile, or hang on the automobile from the stockyard.
When suspender lift cargo such as freight container,, promptly walking " parabola " (referring to Fig. 1) if take a shortcut can save time, and reduces kinetic equation loss (fuel-efficient).Yet, the operator's compartment of tyre crane is below dolly, the chaufeur that faces dolly ahead running direction and sit is in doing the trolley travelling operating process, the freight container that suspender is sling is all the time in the place ahead of operator's compartment, huge goods resembles the sight line that freight container is easy to block driver the place ahead, also is not easy to see clearly the freight container that has stacked in the place ahead.When chaufeur will be understood container height on the rear walking passage, can only just can see by the glass port below the seat, both inconvenient, be difficult for again seeing clearly.Particularly, when the higher position, chaufeur can only be with the freight container of estimating to judge whether to knock over the place ahead.Like this, if sling height deficiency, the bottom level of the freight container of slinging does not have to surpass when being deposited in the height of the freight container on the service direction passage, and the freight container of slinging will knock the freight container on the walking passage over when dolly is made high-speed cruising, is commonly called as the accident of " playing bowling ".
In order to prevent the above-mentioned accident that knocks over, can adopt a kind of " door case type " path operations method, promptly will move goods on the passage all the time and regard as and pile with.Have only suspender to be raised to the highest, when the bottom level of guaranteeing the goods that suspender is sling was higher than the possible maximum height of the goods stacked on the passage, dolly just allowed high-speed cruising, otherwise, can only low cruise, prevent to knock over goods.This " door case type " path operations method (as shown in Figure 2) can prevent to knock over goods effectively, is generally adopted.Yet this method makes the crane time of run increase, and has reduced the work work efficiency, has increased the oil consumption of crane, has also increased mechanical wear simultaneously, and maintenance cost is increased greatly.
Summary of the invention
Technical matters to be solved by this invention provides a kind of crane that can make can prevent that when walking " parabola " goods of slinging from knocking the crane safe in operation control setup of the goods on the walking passage over.
To achieve these goals, crane safe in operation control setup provided by the invention comprises:
One is arranged on first height detecting device of the height H q on the goods surface that is used for measuring surface, stockyard on the carriage walking passage on the dolly;
Second height detecting device of the height H j of the height H d of one top that is arranged on suspender is used for measuring sky when the hanging bottom of suspender or the goods bottom of slinging;
One links to each other with second height detecting device with above-mentioned first height detecting device is used for controlling the Central Processing Unit (CPU) of trolley travelling, and this Central Processing Unit (CPU) is worked in the following manner:
When Hd or Hj were not more than Hq, Central Processing Unit (CPU) sends the safety control signal made dolly travel by the deceleration secured fashion.
Safety control provided by the invention also can comprise the level attitude detecting device that is arranged on the dolly, be used for measuring level attitude and the empty suspender that hangs or the level attitude of institute's hoisting thing of goods on the walking passage, in the time that distance between the right opposite of the goods in the front surface of the suspender when sky hangs or institute's hoisting thing and walking passage the place ahead being not more than first safety distance, Central Processing Unit (CPU) can send the Control for Speed Limitation signal and make dolly deceleration safety traffic; And the distance between the right opposite of the front surface of the suspender when empty hanging or institute's hoisting thing and the goods in the passage the place ahead of walking is be not more than second safety distance of setting the time, and Central Processing Unit (CPU) can send the control signal that zero-speed is advanced, and makes dolly stop to move ahead.
Crane safe in operation control setup provided by the invention is because when the height H j of the height H d of the bottom of suspender or the goods bottom of slinging is less than the cargo height Hq on surface, stockyard during empty hanging, Central Processing Unit (CPU) can send the safety control signal makes dolly travel with secured fashion, guarantee that suspender or the goods of slinging can not knock the goods in operation the place ahead over, thereby can walk " parabola " when making the crane operation, saved the time of operation, improve labor productivity greatly, and don't can knock accident over.
Description of drawings
Fig. 1 is that the suspender lift cargo is for example walked the scheme drawing of " parabola " during freight container.
Fig. 2 is that the suspender lift cargo is for example walked the scheme drawing of " architrave " during freight container.
Fig. 3 is the structural representation of crane safe in operation control setup of the present invention.
Fig. 4 is the electrical structure diagram of crane safe in operation control setup of the present invention.
Fig. 5 is the intrinsic curve of surface profile of the storage yard container that records of crane safe in operation control setup of the present invention and the scheme drawing of safe deceleration deceleration area.
Fig. 6 is the workflow diagram of the Central Processing Unit (CPU) of crane safe in operation control setup of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated.
Referring to Fig. 3, the goods of present embodiment indication is a freight container.Crane comprises dolly 3 and car load 11, dolly 3 can be before and after on the crossbeam of car load 11 (about) operation, but car load 11 left and right directions (among the figure from inside to outside or from outside to inside) walking.Below dolly, be provided with suspender 1, be used for lifting container 2.This suspender 1 is driven freight container 2 oscilaltions that suspender 1 is comprised sling by the engine installation of dolly such as winding drum (not shown).Heap has freight container on the stockyard, and wherein, freight container 5 is the freight containers that are positioned at dolly 3 walking passage the place aheads (left) above the stockyard, and freight container 6 is the freight containers that are positioned at dolly 3 walking passage rears (to the right) above the stockyard.
Crane safe in operation control setup provided by the invention includes first height detecting device 8, second height detecting device 7, Central Processing Unit (CPU) 10 and level attitude detecting device 9.First height detecting device 8 is arranged on the place ahead of the suspender 1 on the dolly 3, the distance of the width of for example about 0.9 times of freight container, make dolly (as figure to left) when walking forward, first height detecting device 8 can constantly record the height of the container surface on the surface, stockyard on the front channel in advance, wherein, comprise the apical side height Hq of freight container 5, the apical side height Hh of freight container 6.This detecting device 8 adopts airborne laser range finder or ultrasonic ranging device commonly used on the market.First height detecting device 8 can be input to Central Processing Unit (CPU) 10 with the apical side height Hq that measures and the apical side height Hh position signal of freight container 6.
Above the suspender on the dolly 31, be provided with one second height detecting device 7, the height H j of the height H d of the bottom of suspender 1 or the container base of slinging when being used for measuring sky uninterruptedly and hanging, this device adopts for example rotary absolute position encoder of position coder, the resolution of this coder can be for example 1CM, can satisfy the variation of suspender 1 adjustable height.This coder by a speed reduction gearing for example the winding drum of the driver train of the suspender 1 that hoists on change speed gear box and the dolly connect mutually.When the rotation of winding drum, when the height and position of suspender 1 changes, so the rotation of winding drum is by the gear driven coder work of above-mentioned speed reduction gearing, thereby the height H j of the height H d of the bottom of suspender 1 or the container base of slinging constantly measures in the time of can hanging sky, and the height and position signal that measures is input to Central Processing Unit (CPU) 10.Level attitude detecting device 9 also adopts for example rotary absolute position encoder of position coder, the resolution of this coder can be for example 1CM, can satisfy the variation that dolly 3 level attitudes move, it connects mutually by the gear of a speed reduction gearing with the driver train of driving trolley walking, like this, when carriage walking, the gear that the rotation of the gear of driving trolley walking drives speed reduction gearing rotates, thereby can make this position coder work, so, the horizontal device of dolly is measured uninterruptedly, simultaneously, because the distance between first height detecting device 8 and the level attitude detecting device 9 is known, like this, the level attitude of first height detecting device 8 also can record, and also can be obtained by the level attitude Ln of the point on the surface of the freight container in its detected stockyard.In addition, because the width of freight container is normally known, like this, the level attitude Lh of the level attitude Lq of the front surface of the suspender 1 or the freight container of slinging or rear surface also just obtained when sky hung.Above-mentioned detected level attitude signal Ln, Lq and Lh are input to Central Processing Unit (CPU) 10.Central Processing Unit (CPU) 10 includes memory device and controller, and it has calculates and memory function.
Fig. 4 is the electrical structure diagram of crane safe in operation control setup of the present invention.As shown in the figure, first height sensor 8 passes through for example RS422 signal wire (SW) serial connection of signal transmssion line with Central Processing Unit (CPU) 10, and second height detecting device 7 connects with the winding drum that hoists of dolly 3 with coupler mechanism mutually by change-speed box; Level attitude detecting device 9 links by the driven wheel of change-speed box and coupler mechanism and driving trolley walking.In addition, a LED nixie display 13 links to each other with Central Processing Unit (CPU) 10, and this telltale can show first height sensor 8, second height sensor 7 and horizontal position detector 9 detected current height or horizontal position value.One buzzer phone 12 links to each other with safe operation controller 10, is used at the chaufeur that enters deceleration safety traffic state (below will describe) prompting dolly.Central Processing Unit (CPU) 10 links to each other with the control system of tyre crane by socket type joint piece CD, can control the operation of dolly 3, simultaneously, on suspender 1, be provided with a suspender locking and unlocking device, whether hung freight container to detect suspender 1, its signal is directly inputted to Central Processing Unit (CPU) 10.The handle control system of dolly 3 links to each other with Central Processing Unit (CPU) 10 by socket type joint piece AB.Like this, the stick control control signal of dolly 3 also can be input to Central Processing Unit (CPU) 10.Certainly, if the plug A of socket type joint piece AB is directly connected to socket type joint piece D, like this, the stick control control signal of dolly 3 can be directly inputted to the operational system of tyre crane, and crane safe in operation control setup of the present invention can not worked.
Fig. 5 is that crane safe in operation control setup of the present invention is to the intrinsic curve of the outer surface profile of the storage yard container among Fig. 3 and the scheme drawing in safe Reduced Speed Now district.As shown in the figure, as described above, when suspender 1 has hung freight container 2 from walking process is turned left on the right side, first height detecting device 8 total energy that is arranged in dolly 3 the place aheads detect earlier (end face) every bit on storage yard container surface of adjacent suspender 1 of passage of dolly 3 direction of travel (figure is direction from right to left) continuously in real time apart from ground-surface height H q, simultaneously, the level attitude Ln of every bit also can be detected by second height detecting device 7.After above-mentioned height H q and level attitude Ln constantly were input to Central Processing Unit (CPU), Central Processing Unit (CPU) 10 had just obtained the intrinsic curve of the outer surface profile of whole storage yard container, B1 line (solid line) as shown in Figure 5.The level attitude Lh of the level attitude Lq of the front surface of the suspender 1 or the freight container of slinging or rear surface was input to Central Processing Unit (CPU) 10 when simultaneously, sky hung.If the first safety distance L1 of the right opposite of freight container front surface or rear surface and its direction of travel of the suspender or the freight container of slinging is set at for example 2.3M during empty hanging, promptly in this first safety distance, dolly needs Reduced Speed Now, prevents to knock over the freight container in the place ahead, to guarantee safety.So, between as shown in Figure 5 B1 and B2, just having formed a safe Reduced Speed Now district, the enveloping outer enclosure in this safe Reduced Speed Now district is B2 (as shown in the figure).
The workflow diagram of Fig. 6 Central Processing Unit (CPU) 10.Below in conjunction with Fig. 4, Fig. 5, Fig. 6 the working process of crane safe in operation control setup of the present invention is described further.
When dolly 3 skies hang or hung freight container 2 walkings constantly, as described above, Central Processing Unit (CPU) 10 detects the intrinsic curve B1 of the surface profile of storage yard container by first height detecting device 8 and level attitude detecting device 9, if the height of the height H d of second height detecting device 7 detects sky when the hanging bottom of suspender 1 or the container base of slinging is all greater than the ground-surface height H q of freight container 5 apex distances in operation the place ahead, at this moment, freight container 5 is in perch, and then dolly can full speed ahead; If dolly 3 travels backward, if the height H j of the height H d of the bottom of suspender 1 or the container base of slinging is greater than the ground-surface height H h of freight container 6 apex distances in operation the place ahead during empty hanging, freight container 6 is in perch, and then dolly can full speed ahead.Otherwise when all (or Hq) is less than or equal to the surface elevation (Hq or Hh) of the freight container (freight container 5 or 6) of direction of travel, (if walk left is Lq to the level attitude of the suspender when Central Processing Unit (CPU) can hang sky for 10 this moments or the front surface of the freight container that hangs; Walking then is Lh to the right), with (if the walking left then be the right flank of freight container 5 of the right opposite of the freight container of service direction; To the right the walking then be the left surface of freight container 6) level attitude Ln compare, if the value of Ln-Lq or Lh-Ln is not more than the first safety distance L1, when being 2.3M, the distance of right opposite of freight container that shows the front surface of the suspender or the freight container that hangs and service direction is smaller or equal to the safety distance of above-mentioned setting, Central Processing Unit (CPU) 10 instruction tyre crane control system make dolly 3 slow down (for example 10% speed at full speed) advance; In the deceleration walking process, if Ln-Lq or Lh-Ln are not more than the second safety distance L2, for example during 0.3M, 10 transmissions of Central Processing Unit (CPU) are forced to zero-speed (both handle cutoff commands) signal, at this moment, the suspender 1 of dolly 3 can raise, and the height (Hd or Hj) of the suspender when sky hangs or the container base of hanging is greater than the ground-surface height of freight container apex distance (Hq or Hh) of service direction, but dolly walking freely again.
By top description, can find, a feature of the present invention is, when dolly is walked forward or backward, first height detecting device 8 and level attitude detecting device 9 detect the height and position and the level attitude of any point on the surface of storage yard container, and be stored in the Central Processing Unit (CPU) 10, form intrinsic curve B1.Because the formation of this intrinsic curve B1 makes dolly 3 when walking backward, the location information of any point on the surface of the freight container of direction of travel needn't be measured again.The level attitude (Lq or Lh) on preceding (back) surface of suspender when simultaneously, first height detecting device 8 and level attitude detecting device 9 record sky and hang or the freight container 2 that is hung, the ground-surface height of freight container apex distance (Hq or Hh) in the place ahead.Because the first safety distance L1 sets, like this, in fact also just obtained a safe Reduced Speed Now district, between intrinsic curve B2 and B1, be that Ln compares constantly always in the Central Processing Unit (CPU) 10 with the distance of the level attitude on Lq or Lh and the intrinsic curve B1, if the height H j of the height H d of the bottom of suspender 1 or the container base of slinging is not more than freight container (the 5 or 6) end face of service direction apart from ground-surface height (Hq or Hh) during empty hanging, and the value of Ln-Lq or Lh-Ln is not more than the first safety distance L1, show that then dolly 3 enters above-mentioned safe deceleration area, dolly must slow down and walk, at this moment, buzzer phone 12 can be rung with the chaufeur of reminding little 3.In addition, because the second safety distance L2 also sets, therefore, in fact, similarly the intrinsic curve in zero-speed safety traffic zone also can form.In case enter this zero-speed safety traffic zone, the operation control system of dolly 3 is forced to zero-speed travel (halting).This shows, no matter dolly 3 is walked to the left or to the right, and no matter how chaufeur is operated, and enters safe deceleration area or zero-speed safety traffic district at dolly 3, no matter how chaufeur is operated, and dolly 3 always slows down with secured fashion or the secured fashion that halts travels to guarantee safety.
In addition, equally for other regular shape or fitfull article, crane safe in operation control setup provided by the invention can be worked equally.Only, to the fitfull object, level attitude Lq or Lh are the level attitude of left or the rightest point of the outline line of object front and rear surfaces.Be the height and position of the following nadir of the object that hangs, Hq or Hh are the ground-surface height of vertex distance of the body surface on the walking passage.
Obviously, the above-mentioned first safety distance L1 and the second safety distance L2 can set according to the deceleration performance of dolly 3, and the second safety distance L2 also can be provided with arbitrarily.This crane safe in operation control setup also can be provided with a detecting device identical with first height detecting device 8 again at the rear of the suspender of dolly 3, the height of the container surface when being used for that direct detection is walked backward when dolly 3 travels (to the right) backward on the walking passage.
Certainly, to those skilled in the art, the foregoing description can be done many variations, still can realize purpose of the present invention, for example:
1, the coder of measured altitude and level attitude can adopt other position (distance) survey meters commonly used;
2, second height detecting device 7 also can adopt the airborne laser range finder of similar first height detecting device 8.
Therefore, the description of top embodiment should not be the restriction to protection scope of the present invention, and its protection domain should be defined by the claims.
Claims (10)
1, a kind of crane safe in operation control setup is characterized in that it comprises:
One is arranged on first height detecting device of the height H q on the goods surface that is used for measuring surface, stockyard on the carriage walking passage on the dolly;
The second equal height detecting device of height of the height H d of one top that is arranged on suspender is used for measuring sky when the hanging bottom of suspender or the goods bottom of slinging;
One links to each other with second height detecting device with above-mentioned first height detecting device is used for controlling the Central Processing Unit (CPU) of trolley travelling, and this Central Processing Unit (CPU) is worked in the following manner:
When Hd or Hj were not more than Hq, Central Processing Unit (CPU) sends the safety control signal made dolly travel by the deceleration secured fashion.
2, crane safe in operation control setup as claimed in claim 1, it is characterized in that, it also comprises the level attitude detecting device that is arranged on the dolly, be used for measuring level attitude and the empty suspender that hangs or the level attitude of institute's hoisting thing of goods on the walking passage, in the time that distance between the right opposite of the front surface of the suspender when sky hangs or institute's hoisting thing and the goods of service direction being not more than first safety distance, Central Processing Unit (CPU) can send the Control for Speed Limitation signal and make dolly deceleration safety traffic.
3, crane safe in operation control setup as claimed in claim 2, it is characterized in that, in the time that distance between the right opposite of the goods in the front surface of the suspender when sky hangs or institute's hoisting thing and operation the place ahead being not more than second safety distance, Central Processing Unit (CPU) can send the control signal that zero-speed is advanced, and makes dolly stop to move ahead.
4, crane safe in operation control setup as claimed in claim 1 is characterized in that, described first height detecting device adopts airborne laser range finder.
5, crane safe in operation control setup as claimed in claim 1 is characterized in that, described second height detecting device adopts rotary absolute position encoder.
6, crane safe in operation control setup as claimed in claim 1 is characterized in that, described level attitude detects dress and adopts rotary absolute position encoder.
7, crane safe in operation control setup as claimed in claim 1 is characterized in that described first height detecting device is arranged on the place ahead of suspender.
8, crane safe in operation control setup as claimed in claim 5 is characterized in that, described rotary absolute position encoder connects mutually by the winding drum of the driver train of the suspender that hoists in a speed reduction gearing and the dolly.
9, crane safe in operation control setup as claimed in claim 8 is characterized in that, described speed reduction gearing is a change speed gear box.
10, crane safe in operation control setup as claimed in claim 6 is characterized in that, described rotary absolute position encoder connects mutually by the gear of a speed reduction gearing with the driver train of driving trolley walking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100175943A CN100358796C (en) | 2004-04-09 | 2004-04-09 | Safety controller for running hoist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100175943A CN100358796C (en) | 2004-04-09 | 2004-04-09 | Safety controller for running hoist |
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| CN1680184A CN1680184A (en) | 2005-10-12 |
| CN100358796C true CN100358796C (en) | 2008-01-02 |
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| CNB2004100175943A Expired - Fee Related CN100358796C (en) | 2004-04-09 | 2004-04-09 | Safety controller for running hoist |
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| CN105417377B (en) * | 2014-08-12 | 2017-11-14 | 河南卫华重型机械股份有限公司 | The region of division and the high monitoring system of material in a kind of garbage pool |
| CN105174067A (en) * | 2015-07-15 | 2015-12-23 | 李�诚 | Container hoisting height monitoring system and monitoring method thereof |
| CN106081900A (en) * | 2016-06-24 | 2016-11-09 | 芜湖莫森泰克汽车科技股份有限公司 | The torsion rifle suspender of processing vehicle dormer window |
| CN106081916B (en) * | 2016-06-24 | 2017-08-15 | 唐山钢铁集团微尔自动化有限公司 | The Personification Control method and control module of a kind of unattended overhead traveling crane |
| CN108946494A (en) * | 2018-08-28 | 2018-12-07 | 盐田国际集装箱码头有限公司 | A kind of overhead viaduct type container crane and operational method |
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