CN102718147B - Hook motion control mechanism and tower crane - Google Patents

Hook motion control mechanism and tower crane Download PDF

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Publication number
CN102718147B
CN102718147B CN201210222975.XA CN201210222975A CN102718147B CN 102718147 B CN102718147 B CN 102718147B CN 201210222975 A CN201210222975 A CN 201210222975A CN 102718147 B CN102718147 B CN 102718147B
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China
Prior art keywords
suspension hook
hook
motion
control
controller
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CN201210222975.XA
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Chinese (zh)
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CN102718147A (en
Inventor
缪思怡
高晓汉
田清文
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三一重工股份有限公司
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Priority to CN201210222975.XA priority Critical patent/CN102718147B/en
Publication of CN102718147A publication Critical patent/CN102718147A/en
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Publication of CN102718147B publication Critical patent/CN102718147B/en

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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

Hook motion control mechanism and tower crane
Technical field
The present invention relates to elevator machinery field, in particular to a kind of hook motion control mechanism and a kind of tower crane.
Background technology
In existing tower crane operation, suspension hook location places one's entire reliance upon driver's experience, often occurs that degreeof turn is excessive or too small, it is too high or too low to hoist, luffing is excessive or too small etc. in operating process, actv. suspension hook can not be run to target location.Especially under the operating mode reruned with same trajectories between two fixed positions continually at suspension hook, can not run to target location fast and effectively, affect operating efficiency, labor intensity of operating staff is large simultaneously.
Therefore, need a kind of new suspension hook control technology, effectively can improve the control accuracy of suspension hook, improve operating efficiency, reduce the labour intensity of operating personal.
Summary of the invention
Technical matters to be solved by this invention is, provides a kind of hook motion control mechanism, effectively can improve the control accuracy of suspension hook, improves operating efficiency, reduces the labour intensity of operating personal.
In view of this, the invention provides a kind of hook motion control mechanism, for tower crane, described tower crane comprises arm, be suspended on the suspension hook for hoisting heavy on arm, swing type mechanism, lifting mechanism and luffing mechanism, described swing type mechanism, described lifting mechanism and described luffing mechanism are respectively used to drive described arm to rotate, drive described hook lifting and drive described suspension hook luffing, described hook motion control mechanism comprises: information collecting device, for when the information acquisition instruction receiving operating personal, Real-time Collection is carried out to the movement state information of the suspension hook of described tower crane, treater, generates the predetermined movement track of described suspension hook according to described movement state information, controller, when the enabled instruction receiving operating personal, controls described suspension hook along described predetermined movement orbiting motion.
In this technical scheme, can by the path of motion of pre-recorded suspension hook in specific operation, then directly suspension hook is controlled along predetermined movement orbiting motion by controller when practical operation, the operating mode reruned with same trajectories between two fixed positions continually for suspension hook can improve the control accuracy of suspension hook effectively, improve operating efficiency, reduce the labour intensity of operating personal.
Preferably, described information collecting device also for, record the initial position of described suspension hook when the information acquisition instruction receiving operating personal and record the final position of described suspension hook when the instruction of stopping collection receiving operating personal.
Preferably, described controller also for, receive the control signal of the operating handle of described tower crane, and preferentially control described suspension hook according to the control signal of described operating handle when receiving the control signal of described operating handle.
In this technical scheme, make the priority of the control signal of operating handle higher than the priority by predetermined movement TRAJECTORY CONTROL, namely the priority of operating personal instruction is higher than the priority automatically controlled, thus operating personal can be made automatically controlling to correct in time when there is deviation, improve operating efficiency.
Preferably, described swing type mechanism, described lifting mechanism and described luffing mechanism are driven by turning motor, lifting motor and luffing motor respectively, and described controller is by the motion of suspension hook described in the job control that controls described turning motor, described lifting motor and described luffing motor.In this technical scheme, controller is by controlling the work of each motor thus the control that can realize suspension hook.
Preferably, described information collecting device specifically comprises: revolution steady arm, for responding to the degreeof turn of the arm of described tower crane; Hoist steady arm, for responding to the height of described suspension hook; Luffing steady arm, for respond to described suspension hook and described arm center of gyration between distance.
In this technical scheme, location information not by gathering suspension hook judges the mode of operation of each actuating device, but by revolution steady arm, hoist steady arm and luffing steady arm respectively the work state information of swing type mechanism, lifting mechanism and luffing mechanism carry out responding to and gathering, directly controlled each mechanism according to the work state information of mechanism corresponding in desired guiding trajectory information by controller, control accuracy is high again.
Preferably, described information collecting device also comprises: weight sensor, for responding to the weight of described suspension hook lifted weight.Like this, by the weight information hanging thing is sent to controller, controller can be adjusted accordingly to turning motor, lifting motor and luffing motor according to the actual weight of hanging thing.
Preferably, described information collecting device also for, described controller according to described predetermined movement TRAJECTORY CONTROL suspension hook motion time, to the current motion state information of described suspension hook; Described treater also for, the movement state information that the described current motion state information of described suspension hook is corresponding to described predetermined movement track carries out contrasting and generating comparing result; Described controller also for, adjust according to the motion of described comparing result to described suspension hook that described treater generates.
In this technical scheme, when controller produces deviation to the control of suspension hook, the information that can be gathered by information collecting device judges the departure of suspension hook, then according to departure to automatically adjusting suspension hook, realize control system more intelligent, reduce further the labour intensity of operating personal, improve efficiency.
Preferably, described hook motion control mechanism is bag telltale also, is connected to described treater, for showing the corresponding movement state information in the described current motion state information of described suspension hook and described predetermined movement track.
In this technical scheme, the current motion state of default path of motion and suspension hook is all shown over the display, operating personal can be made more intuitively to arrive the state of kinematic motion of current suspension hook and the degree that conforms to of desired guiding trajectory, thus judge how the motion of suspension hook is adjusted, improve the efficiency of operating personal better.
Preferably, also comprise input media, be connected to described information collecting device and described controller, for according to the instruction of operating personal to described information collecting device and described controller input command, to control the mode of operation of described information collecting device and described controller.
In this technical scheme, to information collecting device and controller input command, thus can control its action by input media, such as operator presses " startup " button, then controller starts to control suspension hook and automatically runs, etc., facilitate the operation of operating personal.
Present invention also offers a kind of tower crane, comprise the hook motion control mechanism according to any one of technique scheme
In sum, can by the path of motion of pre-recorded suspension hook in specific operation, then directly suspension hook is controlled along predetermined movement orbiting motion by controller when practical operation, the operating mode reruned with same trajectories between two fixed positions continually for suspension hook can improve the control accuracy of suspension hook effectively, improve operating efficiency, reduce the labour intensity of operating personal; In addition, when controller produces deviation to the control of suspension hook, the information that can be gathered by information collecting device judges the departure of suspension hook, then according to departure to automatically adjusting suspension hook, realize control system more intelligent, reduce further the labour intensity of operating personal, improve efficiency.
Accompanying drawing explanation
Fig. 1 is hook motion control mechanism block diagram according to an embodiment of the invention;
Fig. 2 is the schematic diagram of touch-screen according to another embodiment of the present invention.
Detailed description of the invention
In order to more clearly understand above-mentioned purpose of the present invention, feature and advantage, below in conjunction with the drawings and specific embodiments, the present invention is further described in detail.
Set forth a lot of detail in the following description so that fully understand 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 is not by the restriction of following public specific embodiment.
Below in conjunction with drawings and Examples, the present invention will be further described.It should be noted that, when not conflicting, the feature in the embodiment of the application and embodiment can combine mutually.
Fig. 1 is hook motion control mechanism block diagram according to an embodiment of the invention.
Hook motion control mechanism provided by the invention, for tower crane, described tower crane comprises arm, be suspended on the suspension hook 1 for hoisting heavy on arm, swing type mechanism, lifting mechanism and luffing mechanism, described swing type mechanism, described lifting mechanism and described luffing mechanism are respectively used to drive described arm to rotate, described suspension hook 1 is driven to be elevated and to drive described suspension hook 1 luffing, described hook motion control mechanism comprises: information collecting device 21, for when the information acquisition instruction receiving operating personal, Real-time Collection is carried out to the movement state information of the suspension hook 1 of described tower crane, treater 22, generates the predetermined movement track of described suspension hook 1 according to described movement state information, controller 23, when the enabled instruction receiving operating personal, controls described suspension hook 1 along described predetermined movement orbiting motion.
Wherein, it is evident that, although treater 22 and controller 23 are divided into two parts in the present invention, it can be integrated into completely in a CPU and complete these functions in practice.
In this technical scheme, can by the path of motion of pre-recorded suspension hook 1 in specific operation, then directly suspension hook 1 is controlled along predetermined movement orbiting motion by controller 23 when practical operation, the operating mode reruned with same trajectories between two fixed positions continually for suspension hook 1 can improve the control accuracy of suspension hook 1 effectively, improve operating efficiency, reduce the labour intensity of operating personal.
Specifically, swing type mechanism, lifting mechanism and luffing mechanism are driven by turning motor, lifting motor and luffing motor respectively, and controller 23 is by controlling the motion of the job control suspension hook 1 of turning motor, lifting motor and luffing motor.
In this technical scheme, controller 23 is by controlling the work of each motor thus the control that can realize suspension hook 1, and by controlling the drive motor of swing type mechanism, lifting mechanism and luffing mechanism, it is convenient to control, and is easy to realize.
Preferably, described information collecting device 21 also for, record the initial position of described suspension hook 1 when the information acquisition instruction receiving operating personal and record the final position of described suspension hook 1 when the instruction of stopping collection receiving operating personal.In this technical scheme, also to suspension hook 1 move initial position and final position carry out record, the accuracy of the record to suspension hook 1 path of motion can be ensured better, make the more realistic track of suspension hook 1 path of motion of record.
As a kind of preferred implementation, controller 23 is also for receiving the control signal of the operating handle 5 of tower crane, and the control signal when receiving the control signal of operating handle 5 preferentially according to operating handle 5 controls suspension hook 1.
In this technical scheme, make the priority of the control signal of operating handle 5 higher than the priority by predetermined movement TRAJECTORY CONTROL, namely the priority of operating personal instruction is higher than the priority automatically controlled, thus operating personal can be made automatically controlling to correct in time when there is deviation, improve operating efficiency.
Wherein, the implementation of information collecting device 21 can have multiple, such as, on suspension hook 1, arrange displacement pickup, by directly responding to the motion of suspension hook 1, and in a kind of detailed description of the invention of the present embodiment, realizes in the following manner.
In the present embodiment, information collecting device 21 specifically comprises: revolution steady arm 211, for responding to the degreeof turn of the arm 11 of tower crane; Hoist steady arm 212, for responding to the height of suspension hook 1; Luffing steady arm 213, for responding to the distance between described suspension hook 1 and the center of gyration of described arm.
In this technical scheme, location information not by gathering suspension hook 1 judges the mode of operation of each actuating device, but by 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 carry out responding to and gathering, directly controlled each mechanism according to the work state information of mechanism corresponding in desired guiding trajectory information by controller 23, control accuracy is high again.
In addition, during tower crane operation, in suspension hook 1 speed-change process, if revolution, hoist or luffing acceleration/accel excessive, the force of inertia hanging thing and jib can produce respective impact power to tower body, about causing 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 accelerate too small, significantly can reduce work efficiency, target location can not be run to fast.Revolution, to hoist or luffing adopts that great acceleration/accel is proper mainly to vary in weight and different according to hanging thing.
Therefore, for above technical matters, the information collecting device in the present embodiment further comprises weight sensor 214, for responding to the weight of suspension hook 1 lifted weight.Like this, by the weight information hanging thing is sent to controller 23, controller 23 can be adjusted accordingly to turning motor, lifting motor and luffing motor according to the actual weight of hanging thing.
Further again, information collecting device 21 also for, when controller 23 moves according to predetermined movement TRAJECTORY CONTROL suspension hook 1, to the current motion state information of suspension hook 1; Treater 22 also for, the movement state information that the current motion state information of suspension hook 1 is corresponding to predetermined movement track is carried out contrasting and generating comparing result; Controller 23 also for, according to treater 22 generate the motion of comparing result to suspension hook 1 adjust.
Specifically, controller 23 is often crossed Δ t and is once read to the every movement state information of suspension hook 1 and adjust, by suspension hook 1 position corresponding to predetermined movement track for current suspension hook 1 position is contrasted, draw error angle α, according to error angle α, the angle of revolution speed of arm after Δ t is adjusted again, can realize adjusting the motion of suspension hook 1.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 0for the angle of revolution speed of the arm under current state, ω tfor controller carries out the target angle of revolution speed of the arm after the Δ t adjusted, ω mfor the maximum angle of revolution speed of revoliving arm, α is error angle, and ε is the intermediate variable of α, and L is the luffing distance of suspension hook 1, L mfor 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 by the change gathering suspension hook 1 position in certain hour t, and this is the passing method in existing correlation technique, repeats no more.
In this technical scheme, when the control of controller 23 pairs of suspension hooks 1 produces deviation, the information that can be gathered by information collecting device 21 judges the departure of suspension hook 1, then according to departure to automatically adjusting suspension hook 1, realize control system more intelligent, reduce further the labour intensity of operating personal, improve efficiency.
In a kind of detailed description of the invention, hook motion control mechanism is bag telltale 3 also, is connected to treater 22, for showing the corresponding movement state information in the current motion state information of suspension hook 1 and predetermined movement track.
In this technical scheme, the current motion state of default path of motion and suspension hook 1 is all shown on the display 3, operating personal can be made more intuitively to arrive the state of kinematic motion of current suspension hook 1 and the degree that conforms to of desired guiding trajectory, thus judge how the motion of suspension hook 1 is adjusted, improve the efficiency of operating personal better.
Preferably, also comprise input media 4, be connected to information collecting device 21 and controller 23, for according to the instruction of operating personal to information collecting device 32 and controller 23 input command, with the mode of operation of control information harvester 21 and controller 23.
In this technical scheme, to information collecting device 21 and controller 23 input command, thus its action can be controlled by input media 4, such as operator presses " startup " button, then controller 23 starts to control suspension hook 1 and automatically runs, etc., facilitate the operation of operating personal.
As a kind of preferred implementation, telltale 3 is touch-screen, and input media receives the instruction of operating personal by touch-screen.
In this technical scheme, achieve and telltale 3 and input media are integrated, further facilitated the operation of operating personal.
Such as, touch-screen can be as shown in Figure 2, show target position information and current location information and the current lift heavy etc. of suspension hook 1 on the touchscreen, certainly the graphicinformation etc. in the position that current slot suspension hook 1 should be located or desired guiding trajectory in suspension hook 1 desired guiding trajectory information can also be shown on the touchscreen, in addition, as we can see from the figure, be also provided with the button of input instruction on the touchscreen, such as:
" record run curve " orders, control suspension hook 1 by operating handle after user selects this order to move, now information collecting device then can gather motion track information and the movement state information throughout of suspension hook 1, i.e. degreeof turn, lifting altitude, luffing distance etc.;
" record current location " orders, after user selects this order, information collecting device then can gather the current location information of suspension hook 1, and the degreeof turn corresponding with this position, lifting altitude, luffing range information, can as the beginning or end etc. of one section of path of motion in certain specific operation;
Order of " checking historic records ", user can select the trace information for different operating mode stored in the menu under this order, thus controls suspension hook 1 along different orbiting motions.
In addition, anemoscope can also be recorded wind speed to show, make operating personal can grasp current wind speed at any time, ensure the safety of operation, and can also by " multiplying power ", " alarm message " in some other parameter such as figure etc., all be shown in the telltale in the present embodiment, this is the basic application of telltale, repeats no more.
Hook motion control mechanism according to any one of technique scheme is applied in tower crane, can obtain the embodiment of tower crane in the present invention, it obviously should have the corresponding beneficial effect of the hook motion control mechanism described in technique scheme.
In sum, can by the path of motion of pre-recorded suspension hook in specific operation, then directly suspension hook is controlled along predetermined movement orbiting motion by controller when practical operation, the operating mode reruned with same trajectories between two fixed positions continually for suspension hook can improve the control accuracy of suspension hook effectively, improve operating efficiency, reduce the labour intensity of operating personal; In addition, when controller produces deviation to the control of suspension hook, the information that can be gathered by information collecting device judges the departure of suspension hook, then according to departure to automatically adjusting suspension hook, realize control system more intelligent, reduce further the labour intensity of operating personal, improve efficiency.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (9)

1. a hook motion control mechanism, for tower crane, described tower crane comprises arm and is suspended on the suspension hook (1) for hoisting heavy on arm, and swing type mechanism, lifting mechanism and luffing mechanism, described swing type mechanism, described lifting mechanism and described luffing mechanism are respectively used to drive described arm to rotate, drive described suspension hook (1) to be elevated and to drive described suspension hook (1) luffing, it is characterized in that, described hook motion control mechanism comprises:
Information collecting device (21), for when the information acquisition instruction receiving operating personal, carries out Real-time Collection to the movement state information of the suspension hook (1) of described tower crane;
Treater (22), generates the predetermined movement track of described suspension hook (1) according to described movement state information;
Controller (23), when the enabled instruction receiving operating personal, controls described suspension hook (1) along described predetermined movement orbiting motion;
Described information collecting device (21) also for, record the initial position of described suspension hook (1) when the information acquisition instruction receiving operating personal and record the final position of described suspension hook when the instruction of stopping collection receiving operating personal.
2. hook motion control mechanism according to claim 1, it is characterized in that, described controller (23) also for, receive the control signal of the operating handle (5) of described tower crane, and preferentially control described suspension hook (1) according to the control signal of described operating handle (5) when receiving the control signal of described operating handle (5).
3. hook motion control mechanism according to claim 1, it is characterized in that, described swing type mechanism, described lifting mechanism and described luffing mechanism are driven by turning motor, lifting motor and luffing motor respectively, and described controller (23) is by the motion of suspension hook (1) described in the job control that controls described turning motor, described lifting motor and described luffing motor.
4. hook motion control mechanism according to claim 3, is characterized in that, described information collecting device (21) specifically comprises:
Revolution steady arm (211), for responding to the degreeof turn of the arm (11) of described tower crane;
Hoist steady arm (212), for responding to the height of described suspension hook (1);
Luffing steady arm (213), for respond to described suspension hook (1) and described arm (11) center of gyration between distance.
5. hook motion control mechanism according to claim 4, is characterized in that, described information collecting device also comprises:
Weight sensor (214), for responding to the weight of described suspension hook (1) lifted weight.
6. hook motion control mechanism according to any one of claim 1 to 5, is characterized in that:
Described information collecting device (21) also for, described controller (23) according to described predetermined movement TRAJECTORY CONTROL suspension hook (1) motion time, to the current motion state information of described suspension hook (1);
Described treater (22) also for, the movement state information that the described current motion state information of described suspension hook (1) is corresponding to described predetermined movement track carries out contrasting and generating comparing result;
Described controller (23) also for, adjust according to the motion of described comparing result to described suspension hook (1) that described treater (22) generates.
7. hook motion control mechanism according to claim 6, it is characterized in that, also bag telltale (3), is connected to described treater (22), for showing the corresponding movement state information in the described current motion state information of described suspension hook (1) and described predetermined movement track.
8. hook motion control mechanism according to claim 7, it is characterized in that, also comprise input media (4), be connected to described information collecting device (21) and described controller (23), for according to the instruction of operating personal to described information collecting device (32) and described controller (23) input command, to control the mode of operation of described information collecting device (21) and described controller (23).
9. a tower crane, is characterized in that, comprises the hook motion control mechanism according to any one of claim 1 to 8.
CN201210222975.XA 2012-06-29 2012-06-29 Hook motion control mechanism and tower crane CN102718147B (en)

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