CN101661676A - Tower-type crane operation stimulating and training system - Google Patents
Tower-type crane operation stimulating and training system Download PDFInfo
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- CN101661676A CN101661676A CN200910018735A CN200910018735A CN101661676A CN 101661676 A CN101661676 A CN 101661676A CN 200910018735 A CN200910018735 A CN 200910018735A CN 200910018735 A CN200910018735 A CN 200910018735A CN 101661676 A CN101661676 A CN 101661676A
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Abstract
The invention discloses a tower-type crane operation stimulating and training system, which comprises an operation console, a data acquisition system, a virtual field software system, a visual scene system, a linkage chair and a PC. Operation commands are sent by controlling an operating rod on the operation console; the data acquisition system acquires the operation commands through a USB interface; and the PC drives the virtual field software system according to the operation commands, displays the working process of a tower-type crane on the visual scene system, the scene change in the range of 4km<2> around a construction site and the condition of whether change, and meanwhile, a hydraulic servo linkage chair simulates a tower-type crane driving cab to swing in the range of +/-500mm above the tower body. The tower-type crane operation stimulating and training system integrates machine-electricity-automation-virtual reality technology into a whole, actively simulates the working process of the tower-type crane in real time, has the characteristics of real operation and life-like scene and is particularly used for training tower-type crane drivers.
Description
Technical field
The present invention relates to a kind of operation stimulating and training system, particularly a kind of tower-type crane operation stimulating and training system is specialized in the tower crane driver training and is used.Belong to the virtual reality technology field.
Background technology
Building ground cargo handling, carrying are to have dangerous Special Work, and tower crane driver's operation directly has influence on the safety of life, property.So China and American-European developed country make laws to the tower crane training drivers, stipulate that the fresh driver must arrive training center's participation training of government permission, can be engaged in this work behind the certificate that qualifies.The tower crane training drivers is to finish by the mode that the master worker trains an apprentice at present, this traditional professor's mode is subjected to artificial factor, exists that accident rate height, training time are long, training contents is owed standard, is subjected to problems such as restriction, the efficient of weather condition is low.Along with quick development of modern science and technology and building operation level and management development, make and utilize computer system that the tower crane driver is carried out high-quality driving training to become possibility.At present, China does not still have the tower-type crane operation simulated training system.The invention provides a kind of tower-type crane operation stimulating and training system that integrates machine-electricity-liquid-robotization-virtual reality technology, simulate the course of work of tower crane initiatively, in real time, be used for tower crane driver's operation simulation training.
Summary of the invention
The purpose of this invention is to provide a kind of tower-type crane operation stimulating and training system, initiatively, simulate the luffing of tower crane, the motion of turning round, hoist in real time, reproduce lifting, transportation, in place, complete course of work of idle motion, simulation because the swing situation of pilothouse above body of the tower that inertial force, wind load cause, is used for tower crane driver's operation simulation training under different operating modes.The present invention is achieved through the following technical solutions:
Tower-type crane operation stimulating and training system comprises operating console, data acquisition system (DAS), virtual reality software system, visual system, interlock seat, PC.The student is by the control lever on the control operation control desk, to the tower-type crane operation stimulating and training system motor performance order of sending luffing, turn round and hoist, data acquisition system (DAS) collects these operational orders by USB interface, PC sends instruction according to these operational orders, drive virtual reality software system respectively, on visual system, show the course of work, the building site periphery circumference 4km of tower crane
2Scene change and the Changes in weather situation, drive simultaneously hydraulic servo interlock seat simulation tower crane under the different operating modes since the pilothouse that inertial force, wind load cause above body of the tower ± swing situation in the 500mm scope.
Operating console is fixed on the transverse movement support by fastening bolt, the descending operation bar of the luffing of power switch button, emergency brake button, five gears and revolution combined operation bar, five gears has been installed on the operating console, has been had and true tower crane the same operating console and panel board.
The operating current signal that PC collects according to data acquisition system (DAS) is judged the various operating modes of tower crane, sends instruction to virtual reality software system and Hydrauservo System, drives scene and hydraulic servo interlock chair motions.
Virtual reality software system adopts 3 d modeling software Multigen-Creator, sets up the real work scene of tower crane and the model of surrounding enviroment thereof, in the VC++ editing environment, with the api function programming realization scene drive of vega software.
Visual system shows that the course of work of tower crane, scene change and the Changes in weather situation, make the student experience the direct operation scene.
Hydraulic servo interlock seat is to be driven by two cover Hydrauservo Systems, the transverse hydraulic servo-drive system is attached on vertical Hydrauservo System, two cover Hydrauservo Systems drive respectively the interlock seat in surface level transversely and lengthwise movement, the simulation tower crane at luffing, under the different operating modes of motion of turning round, hoist since the pilothouse that inertial force and wind load cause above body of the tower ± swing in the 500mm scope.
The invention provides a kind of tower-type crane operation stimulating and training system that integrates machine-electricity-liquid-robotization-virtual reality technology, can simulate operating process, the course of work, load swing situation, the swing situation of pilothouse, scene situation of change, the Changes in weather situation of tower crane initiatively, in real time, have the advantages that operation is true, scene is true to nature, innervation is powerful, be not subjected to the restriction of weather condition, the training contents standard has improved work efficiency, security and the reliability of training.And, adopt PC and support the visual system of 3D function video card to reduce the cost of system.
Description of drawings
Fig. 1 is the tower-type crane operation stimulating and training system synoptic diagram;
Fig. 2 is the tower-type crane operation stimulating and training system front view;
Fig. 3 is the right diagrammatic sketch of tower-type crane operation stimulating and training system;
Fig. 4 is a hydraulic system principle figure.
Fig. 1 tower-type crane operation stimulating and training system synoptic diagram: 1, operating console, 2, data acquisition system (DAS), 3, visual system, 4, PC, 5, the interlock seat.
Fig. 2 tower-type crane operation stimulating and training system front view: 6, transverse movement hydraulic cylinder, 7, hydraulic cylinder set bolt, 8, hydraulic cylinder coupling bolt, 9, lengthwise movement guide rail, 10, lengthwise movement guide wheel, 12, key, 13, the lengthwise movement axle, 15, lengthwise movement bearing, 16, lengthwise movement support, 17, the transverse movement guide wheel, 18, the transverse movement support, 19, fastening bolt, 20, operating console, 21, luffing and revolution combined operation bar, 22, seat, 23, the control lever that hoists, 35, transverse hydraulic cylinder fixed mount.
The right diagrammatic sketch of Fig. 3 tower-type crane operation stimulating and training system: 11, transverse movement axle, 14, key, 24, transverse movement guide rail, 25, hydraulic cylinder coupling bolt, 26, hydraulic cylinder set bolt, 27, the lengthwise movement hydraulic cylinder, 28, the transverse movement bearing, 29, pilothouse shell, 36, vertical hydraulic cylinder fixed mount.
Fig. 4 hydraulic system principle figure: 30, fuel tank, 31, hydraulic pump, 32, surplus valve, 33, reversal valve, 34, hydraulic cylinder.
Embodiment
In Fig. 1, Fig. 2, Fig. 3, Fig. 4, tower-type crane operation stimulating and training system comprises operating console 1, data acquisition system (DAS) 2, visual system 3, PC 4, interlock seat 5.
Operating console 1 is fixed on the transverse movement support 18 by fastening bolt 19, the descending operation bar 23 of the luffing of power switch button, emergency brake button, five gears and revolution combined operation bar 21, five gears has been installed on the operating console 1, has been had and true tower crane the same operating console and panel board.Lower end sensor installation at the combined operation bar 21 and the control lever 23 that hoists, the student connects the corresponding contact of sensor by control operation bar 21,23, form the closed-loop path, data acquisition system (DAS) 2 collects the current signal that control lever 21,23 corresponding gears form by USB interface.The operating current signal that PC 4 collects according to data acquisition system (DAS) 2 is judged the various operating modes of tower crane, sends instruction to virtual reality software system and Hydrauservo System, drives scene and 5 motions of interlock seat.
Virtual reality software system is the structural parameters according to tower crane, and shape, size and the position of passing through the field survey buildings, adopt 3 d modeling software Multigen-Creator, tower crane is carried out solid modelling, and the real work scene of establishment tower crane and the model of surrounding enviroment thereof, in the graphic user interface Lynx of vega, model file .flt is loaded, generate the adf file, in the VC++ editing environment, with the api function programming realization scene drive of vega software.Luffing motion, the gyration of the tower crane of simulation different type of machines, different parameters, the swing and the collision of hoist motion, goods, different weather phenomenons such as simulate day, night, wind, rain, mist, snow make the student experience the direct operation scene.
Pilothouse 29 is fixed on the body of the tower top, because the effect of luffing, turn round, hoist motion inertia force and wind load makes body of the tower produce elastic deformation, pilothouse 29 is swung above body of the tower.The crane operation regulation and stipulation: stop all lifting operations at the strong wind weather more than 6 grades and 6 grades, the present invention has calculated 1-5 level wind load, simulates under the weather condition of 1-5 level wind the swing situation of pilothouse.Hydraulic servo interlock seat simulation tower crane at luffing, under the different operating modes of motion of turning round, hoist since the pilothouse 29 that inertial force and wind load cause above body of the tower ± swing in the 500mm scope.
Hydraulic servo interlock seat 5 is to be driven by two cover Hydrauservo Systems, and the transverse hydraulic servo-drive system is attached on the vertical Hydrauservo System, two cover Hydrauservo Systems drive respectively seat in surface level transversely and lengthwise movement.Hydraulic system comprises fuel tank 30, hydraulic pump 31, surplus valve 32, reversal valve 33, hydraulic cylinder 34.Lengthwise movement hydraulic cylinder 27 is fixed on vertical hydraulic cylinder fixed mount 36 by hydraulic cylinder set bolt 26, hydraulic cylinder 27 is connected on the lengthwise movement support 16 by hydraulic cylinder coupling bolt 26, guide wheel 10 is connected with lengthwise movement axle 13 by key 12, the two ends of axle 13 are supported by lengthwise movement bearing 15, bearing 15 is fixed on the lengthwise movement support 16, and lengthwise movement guide wheel 10 is installed on the lengthwise movement guide rail 9.Transverse movement hydraulic cylinder 6 is fixed on the transverse hydraulic cylinder fixed mount 35 by hydraulic cylinder set bolt 7, hydraulic cylinder 6 is connected on the transverse movement support 18 by hydraulic cylinder coupling bolt 8, guide wheel 17 is connected with transverse movement axle 11 by key 14, the two ends of axle 11 are supported by transverse movement bearing 28, bearing 28 is fixed on the transverse movement support 18, and transverse movement guide wheel 17 is installed on the transverse movement guide rail 24.
Open tower-type crane operation stimulating and training system PC 4, power switch on the operating console 1, visual system 3, student's left hand control combined operation bar 21, the right hand is controlled the control lever 23 that hoists, select different luffings, revolution, the motion gear hoists, send luffing to tower crane, revolution, motion command hoists, data acquisition system (DAS) 2 collects operational order by USB interface, PC 4 is judged the various operating modes of tower crane according to the operational order that collects, send instruction to virtual reality software system, drive various operating modes and operative scenario that visual system 3 shows tower crane.By selecting inside and outside viewpoint, on visual system 3, show lifting, transportation, in place, complete course of work of idle motion of tower crane, show the swing situation of load, realize the load collision detection, can also show tower crane periphery circumference 4km
2Scene, different weather phenomenons such as simulate day, night, wind, rain, mist, snow make the student experience the direct operation scene.The motion embodiment of interlock seat is as follows:
Luffing motion embodiment.Student's left hand control operation bar 21, select different luffing motion gears, send the luffing motion command to tower crane, data acquisition system (DAS) 2 collects operational order by USB interface, PC 4 is according to the operational order that collects, calculate tower crane pilothouse 29 because the longitudinal oscillation amplitude that the luffing motion inertia force causes, send movement instruction to vertical Hydrauservo System, lengthwise movement hydraulic cylinder 27 drives lengthwise movement guide wheel 10 motion guide rail 9 motions along the longitudinal, the longitudinal oscillation situation of pilothouse above body of the tower that the simulation tower crane causes owing to inertial force under luffing motion operating mode.
The gyration embodiment.Student's left hand control operation bar 21, select different gyration gears, send the gyration order to tower crane, data acquisition system (DAS) 2 collects operational order by USB interface, PC 4 calculates tower crane because the pilothouse 29 teeter amplitudes that gyration inertial force causes according to the operational order that collects, send movement instruction to horizontal Hydrauservo System, transverse movement hydraulic cylinder 6 drives transversely motion guide rail 24 motions of transverse movement guide wheel 17, pilothouse teeter situation above body of the tower that the simulation tower crane causes owing to inertial force under the gyration operating mode.
Turn round simultaneously and luffing motion embodiment.Student's left hand control operation bar 21, select different revolutions and luffing motion gear, send luffing and gyration order simultaneously to tower crane, data acquisition system (DAS) 2 collects operational order by USB interface, PC 4 calculates according to the operational order that collects because the pilothouse 29 horizontal and vertical wobble amplitude that revolution and luffing motion inertia force cause, send movement instruction to hydraulic servo interlock seat 5, drive transverse movement guide wheel 24 and transversely motion guide rail 24 and 9 motions of lengthwise movement guide rail of lengthwise movement guide wheel 10 respectively by transverse movement hydraulic cylinder 6 and lengthwise movement hydraulic cylinder 27, the simulation tower crane turns round at the same time, the swing situation of pilothouse 29 above body of the tower that causes owing to inertial force under the luffing motion operating mode.
Wind load causes pilothouse swing embodiment.In PC 4 stored 1-5 level wind load, and pilothouse 29 wobble amplitude transversely and longitudinally under the weather condition of 1-5 level wind, send movement instruction to hydraulic servo interlock seat 5, drive transverse movement guide wheel 24 and transversely motion guide rail 24 and 9 motions of lengthwise movement guide rail of lengthwise movement guide wheel 10, the pilothouse swing situation that simulated wind load causes respectively by transverse movement hydraulic cylinder 6 and lengthwise movement hydraulic cylinder 27.
Claims (7)
1, tower-type crane operation stimulating and training system, comprise operating console, data acquisition system (DAS), virtual reality software system, visual system, the interlock seat, PC, it is characterized in that: the student is by the control lever on the control operation control desk, send luffing to tower-type crane operation stimulating and training system, the revolution and the motor performance order that hoists, data acquisition system (DAS) collects these operational orders by USB interface, PC sends instruction according to these operational orders, drive virtual reality software system respectively, the course of work that on visual system, shows tower crane, the scene of building site periphery circumference 4km2 changes and the Changes in weather situation, drive simultaneously hydraulic servo interlock seat simulation tower crane under different operating modes because inertial force, the pilothouse that wind load causes above body of the tower ± swing situation in the 500mm scope.
2, tower-type crane operation stimulating and training system according to claim 1, it is characterized in that: the descending operation bar of the luffing of power switch button, emergency brake button, five gears and revolution combined operation bar, five gears has been installed on the operating console, has been had and true tower crane the same operating console and panel board.
3, tower-type crane operation stimulating and training system according to claim 1 is characterized in that: data acquisition system (DAS) collects the operational order of control lever by USB interface.
4, tower-type crane operation stimulating and training system according to claim 1, it is characterized in that: PC sends instruction driving scene and interlock chair motions according to the operating mode of the operational order judgement tower crane that collects to virtual reality software system and Hydrauservo System.
5, tower-type crane operation stimulating and training system according to claim 1, it is characterized in that: virtual reality software system is the structural parameters according to tower crane, and the shape of passing through the field survey buildings, size and position, adopt 3 d modeling software Multigen-Creator, tower crane is carried out solid modelling, and the real work scene of establishment tower crane and the model of surrounding enviroment thereof, in the graphic user interface Lynx of vega, model file .flt is loaded, generate the adf file, in the VC++ editing environment, with the api function programming realization scene drive of vega software.
6, tower-type crane operation stimulating and training system according to claim 1, it is characterized in that: visual system links to each other with the video card interface of PC, adopt the video card of supporting the 3D function, by selecting inside and outside viewpoint, on visual system, show luffing motion, the gyration of tower crane, the base regime and the resultant motion operating mode of the motion that hoists, reproduce lifting, transportation, in place, complete course of work of idle motion of load, the swing situation that can also show load simultaneously, realize the load collision detection, show tower crane periphery circumference 4km
2Scene, different weather phenomenons such as simulate day, night, wind, rain, mist, snow make the student experience the direct operation scene.
7, tower-type crane operation stimulating and training system according to claim 1, it is characterized in that: hydraulic servo interlock seat is to be driven by two cover Hydrauservo Systems, the transverse hydraulic servo-drive system is attached on vertical Hydrauservo System, the lengthwise movement hydraulic cylinder is fixed on vertical hydraulic cylinder fixed mount by the hydraulic cylinder set bolt, vertically hydraulic cylinder is connected on the lengthwise movement support by the hydraulic cylinder coupling bolt, the lengthwise movement guide wheel is connected with the lengthwise movement axle by key, the two ends of lengthwise movement axle are by the lengthwise movement bearings, the lengthwise movement bearing fixing is on the lengthwise movement support, and the lengthwise movement guide wheel is installed on the lengthwise movement guide rail; The transverse movement hydraulic cylinder is fixed on the transverse hydraulic cylinder fixed mount by the hydraulic cylinder set bolt, the transverse hydraulic cylinder is connected on the transverse movement support by the hydraulic cylinder coupling bolt, the transverse movement guide wheel is connected with the transverse movement axle by key, the two ends of transverse movement axle are by the transverse movement bearings, the transverse movement bearing fixing is on the transverse movement support, the transverse movement guide wheel is installed on the transverse movement guide rail, two cover Hydrauservo Systems drive respectively the interlock seat in surface level transversely and lengthwise movement, the simulation tower crane is at luffing, revolution, under the different operating modes such as motion that hoist because the swing situation of pilothouse above body of the tower that inertial force and wind load cause.
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| CN2009100187356A CN101661676B (en) | 2009-09-16 | 2009-09-16 | Tower-type crane operation stimulating and training system |
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| CN2009100187356A CN101661676B (en) | 2009-09-16 | 2009-09-16 | Tower-type crane operation stimulating and training system |
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| CN101853584A (en) * | 2010-04-28 | 2010-10-06 | 纪明玉 | Virtual training operation teaching instrument of boring machine and training method thereof |
| CN102522022A (en) * | 2011-12-13 | 2012-06-27 | 中联重科股份有限公司 | Operating mechanism signal acquisition system and device of driving equipment virtual training system |
| CN102522021A (en) * | 2011-12-15 | 2012-06-27 | 成都运达科技股份有限公司 | Simulation system and method for operation logic of virtual railway crane |
| CN102723008A (en) * | 2012-06-18 | 2012-10-10 | 中联重科股份有限公司 | Simulation operation system and simulation operation method of tower crane |
| CN103531051A (en) * | 2013-10-21 | 2014-01-22 | 武汉湾流新技术有限公司 | Method and simulator for virtual reality training of crane operation |
| CN104616558A (en) * | 2015-02-15 | 2015-05-13 | 山东建筑大学 | Tower crane simulation training system |
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| CN107393406A (en) * | 2016-05-16 | 2017-11-24 | 中国建设教育协会建设机械职业教育专业委员会 | Instruction derrick crane is examined in one kind teaching |
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| CN102522022A (en) * | 2011-12-13 | 2012-06-27 | 中联重科股份有限公司 | Operating mechanism signal acquisition system and device of driving equipment virtual training system |
| CN102522021A (en) * | 2011-12-15 | 2012-06-27 | 成都运达科技股份有限公司 | Simulation system and method for operation logic of virtual railway crane |
| CN102723008A (en) * | 2012-06-18 | 2012-10-10 | 中联重科股份有限公司 | Simulation operation system and simulation operation method of tower crane |
| CN103531051A (en) * | 2013-10-21 | 2014-01-22 | 武汉湾流新技术有限公司 | Method and simulator for virtual reality training of crane operation |
| CN104616558A (en) * | 2015-02-15 | 2015-05-13 | 山东建筑大学 | Tower crane simulation training system |
| CN104900135A (en) * | 2015-06-29 | 2015-09-09 | 安庆市达东电子科技有限公司 | Simulation practice apparatus of mechanical device |
| CN108701425A (en) * | 2016-01-14 | 2018-10-23 | 比伯拉赫利勃海尔零部件有限公司 | The simulator of crane, building machinery or industrial truck |
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| CN107393406A (en) * | 2016-05-16 | 2017-11-24 | 中国建设教育协会建设机械职业教育专业委员会 | Instruction derrick crane is examined in one kind teaching |
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| CN106803382A (en) * | 2017-03-06 | 2017-06-06 | 郑州万特电气股份有限公司 | A kind of work high above the ground environment somatosensory device |
| CN107331235A (en) * | 2017-07-28 | 2017-11-07 | 西南交通大学 | Gantry container crane simulated operation full-view simulation system and method |
| CN109147454A (en) * | 2018-09-10 | 2019-01-04 | 苏州大成有方数据科技有限公司 | A kind of automatic control system of engineering simulator |
| CN109036087A (en) * | 2018-09-10 | 2018-12-18 | 苏州大成有方数据科技有限公司 | A kind of front handling mobile crane analog machine with 3-dimensional freedom platform |
| CN108877379A (en) * | 2018-09-10 | 2018-11-23 | 苏州大成有方数据科技有限公司 | A kind of automatic control system of movable engineering simulator |
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