CN103193160A - Remote driving device of tower crane - Google Patents

Abstract

The invention discloses a remote driving device of a tower crane. The remote driving device of the tower crane is a tower crane operation system intelligent control device which combines an existing remote wireless data transmission control technique (a mobile handheld manipulation device) with a digital micro computer integrated module processing host machine as well as multiple types of sensors capable of guaranteeing the normal safety operation process of a tower crane and the original operation electrical control system of the tower crane scientifically so as to complete the safety production sequential lifting and transporting task. The remote driving device of the tower crane is characterized in that operating and controlling personnel can not be restricted to a small driving room at high altitude in operation and can visit the operation surface of a lifted object; a camera and a sensor are installed, so that the operation control is clear, free and safe; when accidents occur, human injury or casualty loss can not be brought to the company; and the original workers are not required, each tower crane requires at least two workers, so that manual expense is reduced, capital is saved, benefit is increased, and the accident loss is lowered greatly.

Description

The long-range pilot instrument of tower crane

Technical field:

The invention belongs to automation control area, relate to existing microelectronic technique and remote wireless control technology.

Background technology:

Because national society's rapid development of economy in recent years, people improve occupying toward the requirement of environmental conditions, increasing sharply of high-building construction amount, tower weight-lifting equipment and driver behavior personnel's thereof use amount is sharply increased, but the increase along with personnel, make the workforce of enterprise huge, the expense high efficiency low and be difficult to the management, construction risk and cost are increased, benefit glides, and in work progress since use amount increase with using probability, mechanical breakdown is increased, dangerous and causality loss increases, particularly skewing, tilt, collision, get an electric shock, the property damage that causes in the great Extra Serious Accident of collapsing etc. and personal casualty loss are heavy especially, cause therefore the close down thing of bankruptcy of enterprise also to happen occasionally, and it has brought huge economic asset loss not only for country and society, navigating mate and family thereof wrecked in also causing the accident lose relatives bitterly, they are regretted regret deeply throughout one's life.

In addition because existing floor is high, the tower machine is higher, climb not only danger but also difficulty when navigating mate is on and off duty, during particularly as the inclement weather of strong wind, haze, night, low visibility such as rain, climb up during interim fragment data lifting After Hours and climb down, both wasted time and energy, do not put just safety again, the period work efficiency is extremely low, and they are when going to work, be closed within the narrow space of high-altitude the not only dullness but also uninteresting of working alone.More difficult and serious is: as the staff at work, during the unexpected disease of unforeseen bursts such as careless slightly something unexpected happened, electric shock, accident on duty, dizzy fault shock, timely and effective treatment to it is then quite difficult, caused the effective treatment time to delay loss greatly, made their life security be difficult to ensure.

More do not put just be since when work operating personal be in the small space of high-altitude; the person all is subjected to very big restriction with vision; let alone come to lifting thing scene personally; carry out absolutely clear; as clear as noonday construction; draw to making; pull out; hang; bump; hit; lifting dangers such as wiping often take place; the potential danger incidence is high; and because at present all are being sold with all tower machines that use and all can not use on the market; management; the operating right password restrictions; in the practical operation use; very careless; fully can not be by the real control of professional driver behavior personnel; management is used chaotic; dangerous factor increases; all tower machines all do not have anticollision protection facility function at present; more do not use electrodeless frequency control function; no wind speed is measured and the automatic attributive function of super large wind job procedure; angle limits function without spin; can not carry out entering of location, dangerous work zone and set restriction; no steel cable fracture of wire wear sensor monitoring newspaper warning function; can not carry out real-time prediction and alarm to the potential danger of hiding; dolly and drop hanger all do not have the power supply facilities of safe ready science; monitoring camera and various monitoring sensor can not be installed; carry out reasonable science control; complete experience and sensation with the staff; work potential danger accident rate is high; the dynamic monitoring and the measuring ability that also do not have the work running state; can not carry out dynamically recording and backup to working process; can not move duration to operating troubles; running state; the maintenance number of times; the check time of checking is recorded faithfully; more can not carry out the management setting of service conditions and the setting and change function of mode of operation operational factor; no telemanagement operation control function; there is not scientific and reasonable parking brake during parking; rely on artificial violation backward rotation braking; the reverse impact moment of torsion is very big; the tower machine rocks and waves seriously; make the lifting thing rock very big; do not use sensor that lifting thing wobble data is calculated yet; carrying out scientific and reasonable steady relatively hook calculating and setting handles; guarantee fast steady hook, lift by crane transportation function fast.

Under present existing technical conditions, four above staff of the minimum essential configuration of each tower machine, commander, each two people of driver, tight as the duration, when the lifting amount is big, should increase to six people at least, divide into groups by class's work, the cost of labor expenditure is very big, and when using present technique equipment, because the staff comes to the lifting scene personally, labour intensity is low, and visual range is wide, easy to control, exhale down the operating process that passes on having avoided, the lifting preceence of fragment data under the special weather situation, convenience, safety show more outstanding.This equipment of use, can reduce more than every minimum two people of driver behavior personnel, can economize four to six people at most (as when ground segment and crane lifting service amount are little, one to two people can control the work of many tower machines), can save 7,000 to 10,000 yuan of costs of labor in every month, economic benefit and social benefit are quite remarkable.

Summary of the invention:

1. adopt the micro computer long distance wireless number control technology system that conducts electricity, can realize tower machine driverless operation operation control, can realize the control of crane lifting service execute-in-place, improved the safe reliability of lifting hauling operation greatly.Using micro computer long distance wireless number to pass integration module control electronic circuit main frame (Fig. 1) is connected with built-in wireless digital transmitting and receiving module (5), carry out the long distance wireless number is passed handheld mobile device upper computer (Fig. 2), the working instruction signal of sending is identified, judge, receive, and carry out calculation process through main frame micro processor modular circuit, export corresponding decision instruction result, make corresponding control components and parts (7) the action conducting or the disconnection that are connected with main frame main circuit board (6), and be connected by wire harness (8) and tower machine operation control electric part (9), and make this functional element corresponding control, the corresponding AC contactor of tower electrical-mechanical part is worked as required, make the electric motor starting of its corresponding control or stop, and drive the work of tower machine mechanics.

2. adopt the long distance wireless number to pass hand-held movable equipment (Fig. 2), it is carried out the working interface button and peripheral hardware play button (1) carries out function setting, when work, control the staff by operation earlier, opening emergency cut-off button (2) is power connection, actual needs according to service condition, press the play button (1) that has designed in advance, by button working instruction signal is gathered, and be transferred to inner main control circuit module (4), after the modular circuit calculation process, pass to transmitter module (3), pass to main frame by transmitter module (3) again, make main frame by instruction works, and carry out continual working signal to sign indicating number with main frame.

3. in entire work process, by being installed in height distance sensor on the off the hook work drive motor arbitrary mode of distance measurement sensor (or install and use at dolly), highly measure playing off the hook, by being installed in angular transducer on the dolly (or with displacement pickup and acceleration pick-up) amplitude of oscillation angle after stopping is measured, by the height that records and angle-data, calculate amplitude of oscillation amount size, and with reference to the weight sensor and the air velocity transducer that are installed in cat head, the weight of adopting and wind speed information send to Host Process Module (6) in the lump, make main frame send the correlated results work order, make dolly or big arm finely tune movement accordingly, make the vertical fast and stable of center of gravity up and down, and then realize quick and stable lifting transport.

Description of drawings

Fig. 1: micro computer long distance wireless number passes integration module control electronic circuit main frame.

Fig. 2: the long distance wireless number passes hand-held movable equipment.

Both compared with prior art, the present invention has following remarkable preceence:

1 uses present technique, saves professional driver behavior personnel, and the navigating mate life security preserves from when having ensured dangerous generation.Saved substantial contribution

2 use present technique, and collection is commanded and driver behavior personnel Yu Yiren in the course of the work, and can be in the action, and sight line is unrestricted, and very convenient to dense fog or rainy day and fragment data lifting at night, efficient is obvious.

3 equipment have work state information and dynamically store backup and Presentation Function, can also carry out working parameter, the setting of operating range zone, also can carry out wireline inspection, over-voltage over-current protection, phase shortage and phase sequence dislocation defencive function.

4 equipment have communication function, the long-range driving intelligent control system of tower crane realizes carrying out combined network communication with other tower machine control system by the CC-link network, carry out communication by data transmission module and touch-screen and upper computer, for system extension later on is reserved with the expansion communication interface.

5 have crashproof function: need set the data (as those angular segments, move distance section, adjustable height section) of obstacle in system, system can judge automatically in when operation, as closes on obstacle and slow down, and carries out out of service near obstacle.

6 have the on-line communication function, configure after the data, can set one to another also acousto-optic hint that gives way after two tower machines close on the zone that may bump, and another can pass through behind the zone that averts danger.

Claims (5)

1. protect the one or more long distance wireless numbers of a kind of use to pass handheld mobile device (Fig. 2) and a cat head micro computer long distance wireless number biography integration module circuit main control system (Fig. 1), main frame carries out corresponding connection by the former electrical control operation lever of wire harness (8) and tower machine (9) part, realize tower machine work break-make, running control, perhaps redesign the dynamo-electric road of tower part, original circuit part with now as a whole in conjunction with design with micro computer long distance wireless number biography integration module circuit main control system (Fig. 1), is realized the mode of machine output control tower machine; And have with entrained a kind of of terrestrial operation personnel: the transceiver that can control tower machine all working control process command information, and can be implemented in any mode of operation process with main frame (Fig. 1), carrying out continual signal sends, receive, search, catch, to the sign indicating number analysis and judgement, and can be at hand-held mobile upper computer (Fig. 2) battery consumption totally, under any abnormal condition that signal distortion is lost or hand-held mobile upper computer damages, the cat head main control system can send halt instruction automatically, make the tower machine can be out-of-work automatically, supporting long distance wireless number passes hand-held removable main control system device (Fig. 2); And the height limit sensors of partly installing in conjunction with the cat head lifting (also can dolly install a height distance survey sensor substitute save the height limit sensors), the measured height under hook data of the measurement of angle sensor of installing on the dolly (or use displacement pickup and acceleration pick-up any one) and suspension hook pendulum angle data computation go out suspension hook amplitude of oscillation amount, and and weight information, after process main frames such as wind speed information are analyzed computing, draw amplitude of oscillation amount result data, make the control part of big wall and dolly, movement is finely tuned in work order according to main frame output accordingly, reach vertical fast up and down, the tower that the fast steady hook of realization lifts by crane safely is quick-witted can the operation control system device.

2. protect a kind of tower machine top that is installed on; and can be to all working process of tower machine; one or more long distance wireless numbers that the intelligent microcomputer long distance wireless number that carries out safety control passes integration module circuit main control system (Fig. 1) and ground pass that handheld mobile device upper computers (Fig. 2) are common to be formed, and tower is quick-witted can remote wireless control electronics integrating device system.

3. protect and a kind ofly formed jointly by one or more upper computers (Fig. 2) and a next main frame (Fig. 1); control for tower crane work; and have and in any mode of operation process, to realize carrying out between upper computer and the lower computer mutual continual signal and send; identification receives; search; catch; to the sign indicating number analysis and judgement; and at hand-held mobile upper computer battery consumption totally; signal distortion is lost or hand-held mobile upper computer damage and upper computer or main frame key plate original paper; any one part of software anomaly and main frame inner control A terminal etc. occurs under the unusual situation; main frame all can send the forced stoppage instruction automatically; make the tower machine out-of-work automatically, be used in tower machine work control and safe automatic protection functions system and device.

4. protect a kind of for the safety control of tower machine working process; by being installed on the off the hook work drive motor; cutoff altitude is measured; spacing height distance sensor; or take to install and use distance measurement sensor at dolly and come playing any single mode that off the hook is highly calculated; highly calculate playing off the hook; and in conjunction with the angular transducer (also any of available displacement pickup or acceleration pick-up) that is installed on the dolly; measured parking amplitude of oscillation angle-data; again according to angle-data and height distance data; calculate amplitude of oscillation amount size as a result; and send to Host Process Module (6); make main frame send the relevant work instruction; make dolly or big arm finely tune movement accordingly; make and vertically hang the thing fast and stable up and down, and then realize that tower machine quick and stable lifts by crane safely that transport ensures, tower machine operation control device system.

5. protect a kind of taking above-mentioned all methods, carry out that element increases or covert the change, and satisfy with above-mentioned functional requirement, tower machine work control system appliance arrangement.

Images