CN102718147A - Hook motion control mechanism and tower crane - Google Patents

Hook motion control mechanism and tower crane Download PDF

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Publication number
CN102718147A
CN102718147A CN201210222975XA CN201210222975A CN102718147A CN 102718147 A CN102718147 A CN 102718147A CN 201210222975X A CN201210222975X A CN 201210222975XA CN 201210222975 A CN201210222975 A CN 201210222975A CN 102718147 A CN102718147 A CN 102718147A
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suspension hook
controller
control
information
hook
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CN201210222975XA
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CN102718147B (en
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缪思怡
高晓汉
田清文
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Sany Heavy Industry Co Ltd
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Sany Heavy Industry Co Ltd
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Abstract

The invention provides a hook motion control mechanism for a tower crane. The tower crane comprises a boom, a hook suspended on the boom and used for hosting a heavy object, a slewing mechanism, a hoisting mechanism and an amplitude changing mechanism, wherein the slewing mechanism, the hoisting mechanism and the amplitude changing mechanism are respectively used for driving the boom to rotate, drive the hook to lift and drive the hook to change the amplitude; the hook motion control mechanism comprises an information acquisition device, a processor and a controller, wherein the information acquisition device is used for acquiring the motion state information of the hook of the tower crane in real time when an information acquisition instruction of an operator is received; the processor is used for generating a preset motion locus of the hook according to the motion state information; and the controller is used for controlling the hook to move along the preset motion locus when a starting instruction of the operator is received. Through the system, the control accuracy of the hook can be effectively improved, the operating efficiency is improved, and the labor intensity of the operator is reduced.

Description

Suspension hook kinetic control system and tower crane
Technical field
The present invention relates to the elevator machinery field, in particular to a kind of suspension hook kinetic control system and a kind of tower crane.
Background technology
In existing tower crane operation, the suspension hook location driver's experience that places one's entire reliance upon, often occur in the operating process degreeof turn excessive or too small, hoist too high or too low, luffing is excessive or too small etc., can not actv. suspension hook be run to the target location.Especially at suspension hook continually under the operating mode that reruns with same trajectories between two fixed positions, can not run to the target location fast and effectively, influence operating efficiency, labor intensity of operating staff is big simultaneously.
Therefore, need a kind of new suspension hook control technology, can improve the control accuracy of suspension hook effectively, improve operating efficiency, reduce labor intensity of operating personnel.
Summary of the invention
Technical matters to be solved by this invention is, a kind of suspension hook kinetic control system is provided, and can improve the control accuracy of suspension hook effectively, improves operating efficiency, reduces labor intensity of operating personnel.
In view of this; The invention provides a kind of suspension hook kinetic control system; Be used for tower crane; Said tower crane comprises arm, is suspended on the suspension hook, swing type mechanism, lifting mechanism and the luffing mechanism that are used for hoisting heavy on the arm, and said swing type mechanism, said lifting mechanism and said luffing mechanism are respectively applied for and drive said arm rotation, drive said hook lifting and drive said suspension hook luffing, and said suspension hook kinetic control system comprises: information collecting device; Be used in information acquisition when instruction that receives operating personal, the state of kinematic motion information of the suspension hook of said tower crane is gathered in real time; Treater generates the predetermined movement track of said suspension hook according to said state of kinematic motion information; Controller when the enabled instruction that receives operating personal, is controlled said suspension hook along said predetermined movement orbiting motion.
In this technical scheme; Can be through writing down the path of motion of suspension hook in specific operation in advance; When practical operation, directly get final product along the predetermined movement orbiting motion then by controller control suspension hook; The operating mode that between two fixed positions, reruns with same trajectories continually for suspension hook can improve the control accuracy of suspension hook effectively, improves operating efficiency, reduces labor intensity of operating personnel.
Preferably, said information collecting device also is used for, in the final position that the information acquisition instruction that receives operating personal the time is write down the initial position of said suspension hook and write down said suspension hook during in the instruction that stops to gather that receives operating personal.
Preferably, said controller also is used for, and receives the control signal of the operating handle of said tower crane, and when receiving the control signal of said operating handle, preferentially controls said suspension hook according to the control signal of said operating handle.
In this technical scheme; Make the priority of the control signal of operating handle be higher than priority by the predetermined movement TRAJECTORY CONTROL; The priority that is the operating personal instruction is higher than automatically controlled priority; Thereby operating personal is in time corrected when deviation appears in automatic guidance, improved operating efficiency.
Preferably; Said swing type mechanism, said lifting mechanism and said luffing mechanism are respectively by turning motor, lifting motor and luffing motor-driven, and said controller is controlled the motion of said suspension hook through the work of controlling said turning motor, said lifting motor and said luffing motor.In this technical scheme, thereby controller can be realized the control to suspension hook through the work of controlling each motor.
Preferably, said information collecting device specifically comprises: the revolution steady arm is used to respond to the degreeof turn of the arm of said tower crane; The steady arm that hoists is used to respond to the height of said suspension hook; The luffing steady arm is used to respond to the distance between the center of gyration of said suspension hook and said arm.
In this technical scheme; Do not judge the mode of operation of each actuating device through the location information of gathering suspension hook; But through the revolution steady arm, hoist steady arm and luffing steady arm respectively the work state information of swing type mechanism, lifting mechanism and luffing mechanism respond to and gather; Directly according to the work state information of corresponding mechanism in the preset trace information each mechanism is controlled by controller, control accuracy is high again.
Preferably, said information collecting device also comprises: weight sensor is used to respond to the weight of said suspension hook lifted weight.Like this, send to controller, controller can be adjusted turning motor, lifting motor and luffing motor according to the actual weight of hanging thing accordingly through the weight information that will hang thing.
Preferably, said information collecting device also is used for, and when said controller moves according to the said suspension hook of said predetermined movement TRAJECTORY CONTROL, the current state of kinematic motion information of said suspension hook is gathered; Said treater also is used for, and corresponding state of kinematic motion information in the said current state of kinematic motion information of said suspension hook and the said predetermined movement track is compared and generate comparing result; Said controller also is used for, and according to the said comparing result that said treater generates the motion of said suspension hook is adjusted.
In this technical scheme; When controller produces deviation to the control of suspension hook; The information that can be gathered by information collecting device is judged the departure of suspension hook, then according to departure to automatically suspension hook being adjusted, realize that control system is intelligent more; Further reduce labor intensity of operating personnel, improved efficient.
Preferably, said suspension hook kinetic control system also wraps telltale, is connected to said treater, is used for showing the said current state of kinematic motion information of said suspension hook and the corresponding state of kinematic motion information of said predetermined movement track.
In this technical scheme; All be presented at the preset path of motion and the current state of kinematic motion of suspension hook on the telltale; Can make operating personal see the degree that conforms to of state of kinematic motion with the preset track of current suspension hook more intuitively; Thereby judge better and how the motion of suspension hook is adjusted, improved the efficient of operating personal.
Preferably; Also comprise input media; Be connected to said information collecting device and said controller, be used for instruction according to operating personal to said information collecting device and said controller input command, to control the mode of operation of said information collecting device and said controller.
In this technical scheme, can be through input media to information collecting device and controller input command, thus control its action, for example the operator presses " startup " button, and then controller begins to control suspension hook and moves automatically, etc., made things convenient for the operation of operating personal.
The present invention also provides a kind of tower crane, comprises each described suspension hook kinetic control system in the technique scheme
In sum; Can be through writing down the path of motion of suspension hook in specific operation in advance; When practical operation, directly get final product along the predetermined movement orbiting motion then by controller control suspension hook; The operating mode that between two fixed positions, reruns with same trajectories continually for suspension hook can improve the control accuracy of suspension hook effectively, improves operating efficiency, reduces labor intensity of operating personnel; In addition; When controller produces deviation to the control of suspension hook; The information that can be gathered by information collecting device is judged the departure of suspension hook, then according to departure to automatically suspension hook being adjusted, realize that control system is intelligent more; Further reduce labor intensity of operating personnel, improved efficient.
Description of drawings
Fig. 1 is a suspension hook kinetic control system block diagram according to an embodiment of the invention;
Fig. 2 is the scheme drawing of touch-screen according to another embodiment of the present invention.
The specific embodiment
In order more to be expressly understood above-mentioned purpose of the present invention, feature and advantage, the present invention is further described in detail below in conjunction with the accompanying drawing and the specific embodiment.
A lot of details have been set forth in the following description so that make much of the present invention; But; The present invention can also adopt other to be different from other modes described here and implement, and therefore, protection scope of the present invention does not receive the restriction of following disclosed specific embodiment.
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.Need to prove that under the situation of not conflicting, the application's embodiment and the characteristic among the embodiment can make up each other.
Fig. 1 is a suspension hook kinetic control system block diagram according to an embodiment of the invention.
Suspension hook kinetic control system provided by the invention; Be used for tower crane; Said tower crane comprises arm, is suspended on the suspension hook 1, swing type mechanism, lifting mechanism and the luffing mechanism that are used for hoisting heavy on the arm; Said swing type mechanism, said lifting mechanism and said luffing mechanism are respectively applied for and drive said arm rotation, drive said suspension hook 1 up-down and drive said suspension hook 1 luffing; Said suspension hook kinetic control system comprises: information collecting device 21, be used in information acquisition when instruction that receives operating personal, and the state of kinematic motion information of the suspension hook 1 of said tower crane is gathered in real time; Treater 22 generates the predetermined movement track of said suspension hook 1 according to said state of kinematic motion information; Controller 23 when the enabled instruction that receives operating personal, is controlled said suspension hook 1 along said predetermined movement orbiting motion.
Wherein, it is obvious that, though among the present invention treater 22 and controller 23 are divided into two parts, it can be integrated into fully and accomplish these functions among the CPU in practice.
In this technical scheme; Can be through writing down the path of motion of suspension hook 1 in specific operation in advance; When practical operation, directly get final product along the predetermined movement orbiting motion then by controller 23 control suspension hooks 1; The operating mode that between two fixed positions, reruns with same trajectories continually for suspension hook 1 can improve the control accuracy of suspension hook 1 effectively, improves operating efficiency, reduces labor intensity of operating personnel.
Particularly, swing type mechanism, lifting mechanism and luffing mechanism are respectively by turning motor, lifting motor and luffing motor-driven, and controller 23 is through the motion of the work control suspension hook 1 of control turning motor, lifting motor and luffing motor.
In this technical scheme, thereby controller 23 can be realized the control to suspension hook 1 through the work of controlling each motor, and through the drive motor of control swing type mechanism, lifting mechanism and luffing mechanism, control is convenient, is easy to realize.
Preferably, said information collecting device 21 also is used for, in the final position that the information acquisition instruction that receives operating personal the time is write down the initial position of said suspension hook 1 and write down said suspension hook 1 during in the instruction that stops to gather that receives operating personal.In this technical scheme, also record is carried out in the initial position and the final position of suspension hook 1 motion, can guarantee accuracy better to the record of suspension hook 1 path of motion, make suspension hook 1 path of motion of record more meet actual path.
As a kind of preferred implementation, controller 23 also is used to receive the control signal of the operating handle 5 of tower crane, and when receiving the control signal of operating handle 5 preferentially according to the control signal control suspension hook 1 of operating handle 5.
In this technical scheme; Make the priority of the control signal of operating handle 5 be higher than priority by the predetermined movement TRAJECTORY CONTROL; The priority that is the operating personal instruction is higher than automatically controlled priority; Thereby operating personal is in time corrected when deviation appears in automatic guidance, improved operating efficiency.
Wherein, the implementation of information collecting device 21 can have multiple, for example on suspension hook 1, displacement pickup is set, and through the motion of direct induction suspension hook 1, and in a kind of specific embodiment of present embodiment, realizes in the following manner.
In the present embodiment, information collecting device 21 specifically comprises: revolution steady arm 211 is used to respond to the degreeof turn of the arm 11 of tower crane; The steady arm 212 that hoists is used to respond to the height of suspension hook 1; Luffing steady arm 213 is used to respond to the distance between the center of gyration of said suspension hook 1 and said arm.
In this technical scheme; Do not judge the mode of operation of each actuating device through the location information of gathering suspension hook 1; But through revolution steady arm 211, hoist steady arm 212 and luffing steady arm 213 respectively the work state information of swing type mechanism, lifting mechanism and luffing mechanism respond to and gather; Directly according to the work state information of corresponding mechanism in the preset trace information each mechanism is controlled by controller 23, control accuracy is high again.
In addition; During the tower crane operation; In suspension hook 1 speed-change process, if the revolution, hoist or the luffing acceleration/accel excessive, the force of inertia that hangs thing and jib can produce respective impact power to body of the tower; Cause about whole tower crane, front and back rock, and have a strong impact on tower crane safety performance and service life; And if revolution, hoist or luffing acceleration/accel or quicken too smallly, can reduce work efficiency significantly, can not run to the target location fast.Revolution, hoist or luffing to adopt great acceleration/accel proper mainly be according to hanging that thing varies in weight and different.
Therefore, to above technical matters, the information collecting device in the present embodiment further comprises weight sensor 214, is used to respond to the weight of suspension hook 1 lifted weight.Like this, send to controller 23, controller 23 can be adjusted turning motor, lifting motor and luffing motor according to the actual weight of hanging thing accordingly through the weight information that will hang thing.
Further again, information collecting device 21 also is used for, and when controller 23 moves according to predetermined movement TRAJECTORY CONTROL suspension hook 1, the current state of kinematic motion information of suspension hook 1 is gathered; Treater 22 also is used for, and corresponding state of kinematic motion information in the current state of kinematic motion information of suspension hook 1 and the predetermined movement track is compared and generate comparing result; Controller 23 also is used for, and according to the comparing result that treater 22 generates the motion of suspension hook 1 is adjusted.
Particularly; Controller 23 every Δ t that cross are to once reading and adjust suspension hook 1 each item state of kinematic motion information; Through corresponding suspension hook 1 position in current suspension hook 1 position and the predetermined movement track is compared; Draw the error angle [alpha], according to the error angle [alpha] angle of revolution speed of arm behind Δ t is adjusted again, can realize the motion of suspension hook 1 is adjusted.Specific as follows:
ω t = ω 0 · e - 2 ( Δt + ϵ ) · ω m M · ( L L m + 1 ) · ω 0
ϵ = α · π · L ω 0
Wherein, ω 0Be the angle of revolution speed of the arm under the current state, ω tThe target angle of revolution speed of the arm behind the Δ t that adjusts for controller, ω mBe the maximum angle of revolution speed of revoliving arm, α is the error angle, and ε is the intermediate variable of α, and L is the luffing distance of suspension hook 1, L mBe the maximum luffing distance of suspension hook 1, M is the quality of hanging thing.
In addition, the current angle of revolution speed of arm can obtain the mean angular velocity in time t through the variation of gathering suspension hook 1 position in the certain hour t, and this is the passing method in the existing correlation technique, repeats no more.
In this technical scheme; When the control of 23 pairs of suspension hooks 1 of controller produces deviation; The information that can be gathered by information collecting device 21 is judged the departure of suspension hook 1, then according to departure to automatically suspension hook 1 being adjusted, realize that control system is intelligent more; Further reduce labor intensity of operating personnel, improved efficient.
In a kind of specific embodiment, the suspension hook kinetic control system also wraps telltale 3, is connected to treater 22, is used for showing the current state of kinematic motion information of suspension hook 1 and the corresponding state of kinematic motion information of predetermined movement track.
In this technical scheme; The preset path of motion and the current state of kinematic motion of suspension hook 1 all are presented on the telltale 3; Can make operating personal see the degree that conforms to of state of kinematic motion with the preset track of current suspension hook 1 more intuitively; Thereby judge better and how the motion of suspension hook 1 is adjusted, improved the efficient of operating personal.
Preferably, also comprise input media 4, be connected to information collecting device 21 and controller 23, be used for instruction according to operating personal to information collecting device 32 and controller 23 input commands, with the mode of operation of control information harvester 21 and controller 23.
In this technical scheme, can be through input media 4 to information collecting device 21 and controller 23 input commands, thus control its action; For example the operator presses " startup " button; Then controller 23 begins to control suspension hook 1 and moves automatically, etc., made things convenient for the operation of operating personal.
As a kind of preferred implementation, telltale 3 is a touch-screen, and input media receives the instruction of operating personal through touch-screen.
In this technical scheme, realized telltale 3 and input media are integrated, further facilitated the operation of operating personal.
For example; Touch-screen can show target position information and the current location information and the current lift heavy etc. of suspension hook 1 as shown in Figure 2 on touch-screen, can also on touch-screen, show in the preset trace information of suspension hook 1 in position that current slot suspension hook 1 should be located certainly or the graphicinformation of preset track etc.; In addition; From figure, can see, on touch-screen, also be provided with the button of input instruction, for example:
" record run curve " order; The user selects this order back to move through operating handle control suspension hook 1; This moment, information collecting device then can be gathered the motion track information of suspension hook 1 and state of kinematic motion information throughout, i.e. degreeof turn, lifting altitude, luffing distance etc.;
" record current location " order; The user selects this order back information collecting device then can gather suspension hook 1 current position information; And with the corresponding degreeof turn in this position, lifting altitude, luffing range information, can be used as the beginning or end of one section path of motion in certain specific operation etc.;
" check historic records " and order that the user can select the trace information to different operating modes of storage in the menu under this order, thereby controls suspension hook 1 along different orbiting motions.
In addition; Can also anemoscope be recorded wind speed and show, make operating personal can grasp current wind speed at any time, guarantee the safety of operation; And " multiplying power " in can also some other parameter for example being schemed, " alarm message " etc.; All be shown in the telltale in the present embodiment, this is the basic application of telltale, repeats no more.
Each described suspension hook kinetic control system in the technique scheme is applied in the tower crane; Can obtain the embodiment of tower crane among the present invention, it obviously should have the corresponding beneficial effect of the suspension hook kinetic control system described in the technique scheme.
In sum; Can be through writing down the path of motion of suspension hook in specific operation in advance; When practical operation, directly get final product along the predetermined movement orbiting motion then by controller control suspension hook; The operating mode that between two fixed positions, reruns with same trajectories continually for suspension hook can improve the control accuracy of suspension hook effectively, improves operating efficiency, reduces labor intensity of operating personnel; In addition; When controller produces deviation to the control of suspension hook; The information that can be gathered by information collecting device is judged the departure of suspension hook, then according to departure to automatically suspension hook being adjusted, realize that control system is intelligent more; Further reduce labor intensity of operating personnel, improved efficient.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. suspension hook kinetic control system; Be used for tower crane; Said tower crane comprises arm, is suspended on the suspension hook (1), swing type mechanism, lifting mechanism and the luffing mechanism that are used for hoisting heavy on the arm; Said swing type mechanism, said lifting mechanism and said luffing mechanism are respectively applied for and drive said arm and rotate, drive said suspension hook (1) and go up and down and drive said suspension hook (1) luffing, it is characterized in that said suspension hook kinetic control system comprises:
Information collecting device (21) was used in information acquisition when instruction that receives operating personal, and the state of kinematic motion information of the suspension hook (1) of said tower crane is gathered in real time;
Treater (22) generates the predetermined movement track of said suspension hook (1) according to said state of kinematic motion information;
Controller (23) when the enabled instruction that receives operating personal, is controlled said suspension hook (1) along said predetermined movement orbiting motion.
2. suspension hook kinetic control system according to claim 1; It is characterized in that; Said information collecting device (21) also is used for, in the final position that the information acquisition instruction that receives operating personal the time is write down the initial position of said suspension hook (1) and write down said suspension hook during in the instruction that stops to gather that receives operating personal.
3. suspension hook kinetic control system according to claim 1; It is characterized in that; Said controller (23) also is used for; Receive the control signal of the operating handle (5) of said tower crane, and when receiving the control signal of said operating handle (5), preferentially control said suspension hook (1) according to the control signal of said operating handle (5).
4. suspension hook kinetic control system according to claim 1; It is characterized in that; Said swing type mechanism, said lifting mechanism and said luffing mechanism are respectively by turning motor, lifting motor and luffing motor-driven, and said controller (23) is controlled the motion of said suspension hook (1) through the work of controlling said turning motor, said lifting motor and said luffing motor.
5. suspension hook kinetic control system according to claim 4 is characterized in that, said information collecting device (21) specifically comprises:
Turn round steady arm (211), be used to respond to the degreeof turn of the arm (11) of said tower crane;
The steady arm (212) that hoists is used to respond to the height of said suspension hook (1);
Luffing steady arm (213) is used to respond to the distance between the center of gyration of said suspension hook (1) and said arm (11).
6. suspension hook kinetic control system according to claim 5 is characterized in that, said information collecting device also comprises:
Weight sensor (214) is used to respond to the weight of said suspension hook (1) lifted weight.
7. according to each described suspension hook kinetic control system in the claim 1 to 6, it is characterized in that:
Said information collecting device (21) also is used for, and when said controller (23) moves according to the said suspension hook of said predetermined movement TRAJECTORY CONTROL (1), the current state of kinematic motion information of said suspension hook (1) is gathered;
Said treater (22) also is used for, and corresponding state of kinematic motion information in the said current state of kinematic motion information of said suspension hook (1) and the said predetermined movement track is compared and generate comparing result;
Said controller (23) also is used for, and according to the said comparing result that said treater (22) generates the motion of said suspension hook (1) is adjusted.
8. suspension hook kinetic control system according to claim 7; It is characterized in that; Also wrap telltale (3), be connected to said treater (22), be used for showing the said current state of kinematic motion information of said suspension hook (1) and the corresponding state of kinematic motion information of said predetermined movement track.
9. suspension hook kinetic control system according to claim 8; It is characterized in that; Also comprise input media (4); Be connected to said information collecting device (21) and said controller (23), be used for instruction according to operating personal to said information collecting device (32) and said controller (23) input command, to control the mode of operation of said information collecting device (21) and said controller (23).
10. a tower crane is characterized in that, comprises like each described suspension hook kinetic control system in the claim 1 to 9.
CN201210222975.XA 2012-06-29 2012-06-29 Hook motion control mechanism and tower crane Active CN102718147B (en)

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