CN103274319B - Method for determining single-leg damage and damage position of tower body steel structure of tower crane - Google Patents
Method for determining single-leg damage and damage position of tower body steel structure of tower crane Download PDFInfo
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- CN103274319B CN103274319B CN201310141801.5A CN201310141801A CN103274319B CN 103274319 B CN103274319 B CN 103274319B CN 201310141801 A CN201310141801 A CN 201310141801A CN 103274319 B CN103274319 B CN 103274319B
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Abstract
The invention provides a method for determining single-leg damage and a damage position of a tower body steel structure of a tower crane by the pose characteristics of endpoint inclined angle of the tower body of the tower crane. According to the method, the inclined angle of the top end of the tower body in a moving coordinate system is measured in real time by using an inclined angle sensor; accordingly, a pose characteristic map of the inclined angle of the top end is drawn; when the characteristic of two continuous closed circles with inward convergence petals is present on the pose characteristic map of the inclined angle, the main leg of tower body of the tower crane can be determined as being damaged; and the damage is determined being appeared in the main leg corresponding to the position with the same rotation angle in a static coordinate system. The method can diagnose that the steel structure of the tower body of the tower crane is damaged simply and rapidly, give out the position of the damaged single leg, and can prevent accidents caused by the steel structure of the tower body in advance.
Description
Technical field
The present invention relates to a kind of method being judged the damage of tower body steel structure list limb and damage position by tower machine tower body top end points pose feature, belong to large-scale tower mast type steel structure safety monitoring field.
Background technology
Tower machine, due to advantages such as himself work efficiency are high, swinging radius is large, becomes modern industry and the widely used handling machinery of field of civil engineering.But tower machine huge structure, work under bad environment, work load is large, and tie bolt loosens easily to cause tower body to occur, the potential safety hazards such as main limb cracking, corrosion, often cause serious consequence as got rid of hidden danger not in time.
Regularly carrying out safety inspection to tower machine is a kind of method eliminated safe hidden trouble, but tower machine huge structure, check it is a job of wasting time and energy comprehensively.Also do not pass through the theoretical method of tower seat in the plane appearance feature detection structural damage and damage position at present.
Summary of the invention
For the problems referred to above, the invention provides a kind of method judging the damage of tower machine tower body steel structure list limb and damage position.
Its method comprises the following steps: using obliquity sensor as end points inclination angle, tower machine tower body top real-time measurement apparatus, and obliquity sensor is installed on any main limb of slewing tower; By setting up moving coordinate system-Ta machine rotating part system of axes, position fixing system-absolute coordinate system completes, returned the tower body top pose Characteristic Contrast that the pose feature that formed of data on each angle position of circling and gathering and research institute obtain by tower machine under detected state, judge the damage of tower body list limb and damage main limb.
With any point in position fixing system for revolution starting point, with equally spaced angle, 360 degree of turning circles are divided into multiple unique point, by tower machine rotating part respectively at above-mentioned positioning feature point certain hour, record respective body top inclination θ; According to record many groups inclination angle theta value, respectively with θ x for abscissa, with θ y for ordinate, draw the single main limb of tower machine tower body impaired end points inclination angle, top trajectory diagram-tower body pose characteristic pattern.
Further, tower body top pose feature comprises tower body intact pose feature and single limb damage pose feature etc.
The intact pose feature in tower body top is rendered as a circle overlapped for four times; And single limb damage pose feature has containing two petal-shaped circles.
Further, what present at it has in containing two petal-shaped circles, the corresponding damage position in top of its containing circle.
The method of judgement tower machine steel structure damage of the present invention is simple, greatly reduce the program at present to tower machine general complete overhaul, raise the efficiency, be convenient to automatic diagnosis, and provide the orientation of impaired single limb, accomplish to take precautions against in possible trouble to the accident caused because of tower body steel structure.
Accompanying drawing explanation
Fig. 1: dynamic, position fixing system and relation schematic diagram;
Fig. 2: the main limb damaged location mark of tower body and revolution initial position marked graph;
Fig. 3: normal tower machine tower body top end points pose exemplary plot;
Fig. 4: the tower body top end points pose exemplary plot that the main limb of tower machine list is impaired.
Wherein, 1, main limb damage position, 2, crane arm rotational home position.
Detailed description of the invention
Below in conjunction with embodiment and Figure of description, the present invention is described in detail, but is not limited thereto.
Set two system of axess, as Fig. 1, position fixing system oxyz initial point O is the center-point of tower body at ground constant cross-section, coordinate axle x positive dirction is ground north orientation (x (N)), coordinate axle y positive dirction is that ground is western to (y (W)), and coordinate axle z positive dirction is perpendicular to ground upwards (z (t)); Another moving coordinate system initial point Ot is the intersection point of the straight line of tower body top pivoting support plane of rotation with mistake O point and perpendicular to ground, coordinate axle Xt positive dirction is that crane arm axis is away from tower body direction (amplitude augment direction), coordinate axle Zt positive dirction is perpendicular to ground upwards, and coordinate axle Yt positive dirction is for meet right-hand rule perpendicular to crane arm axis and Xt, Zt axle.As shown in Figure 1, OOt is perpendicular to ground.OtXtYt plane in OtXtYtZt system of axes, tower body top will show as a point relative to the inclination angle of OOt, and the coordinate (θ x, θ y) of this point is body top inclination θ.
Using obliquity sensor as end points inclination angle, tower machine tower body top real-time measurement apparatus, obliquity sensor is installed on any main limb 1 of slewing tower; Fig. 2 is the xoy plane of position fixing system, position shown in sequence number 2 is crane arm rotational home position, with 30 degree of angles at equal intervals, 360 degree of turning circles are divided into 12 unique points, turning anticlockwise tower machine, and stop certain hour-15 second in unique point respectively, turning anticlockwise gets back to the position of sequence number 2 for one week, and records 13 feature locations points (starting point and terminal are a location point, sequence number 2 position record twice) body top inclination θ separately.
According to 13 groups of inclination angle theta values of 12 unique points of obliquity sensor record, respectively with θ x for abscissa, with θ y for ordinate, draw the tower body pose feature that the loosening top endpoint trace-single main limb of the single main limb tie bolt of tower machine tower body is impaired, as shown in Figure 3,4, with 15 ° for starting point draws pose figure.
In Fig. 3, pose figure is the circle that overlaps for four times, and basic coincidence is a circle, can judge that the main limb of tower machine tower body is intact.
The pose feature that the detection data of detection position, Fig. 4 tower machine top are formed has two of containing petal closed circles continuously, can judge that the main limb of tower machine tower body damages.
Containing petal summit (in Fig. 4 315 degree of positions) the corresponding main limb damage position (in Fig. 2 position shown in sequence number 1, namely by sequence number 2 left-hand revolution 315 degree of positions) of tower machine damage pose.
Claims (2)
1. one kind judges the method for the damage of tower machine tower body steel structure list limb and damage position, comprise using obliquity sensor as end points inclination angle, tower machine tower body top real-time measurement apparatus, it is characterized in that: by setting up moving coordinate system-Ta machine rotating part system of axes, position fixing system-absolute coordinate system completes, returning the intact pose Characteristic Contrast in tower body top under single limb damage pose feature that the data on each angle position of circling and gathering are formed and the normal condition that research institute obtains by detecting tower machine under main limb compromise state, judging the damage of tower body list limb and damaging main limb; Described pose is characterized as end points inclination angle, tower body top track; The intact pose feature in tower body top is rendered as a circle overlapped for four times; And single limb damage pose feature has containing two petal-shaped circles, what present at it has in containing two petal-shaped circles, the corresponding damage position in top of its containing circle.
2. the method for judgement tower machine tower body steel structure list limb damage according to claim 1 and damage position, it is characterized in that: with any point in position fixing system for revolution starting point, with equally spaced angle, 360 degree of turning circles are divided into multiple unique point, by tower machine rotating part respectively at above-mentioned positioning feature point certain hour, record respective body top inclination θ; According to record many groups inclination angle theta value, respectively with θ x for abscissa, with θ y for ordinate, draw the single main limb of tower machine tower body impaired end points inclination angle, top trajectory diagram-tower body pose characteristic pattern.
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| CN201310141801.5A CN103274319B (en) | 2013-04-23 | 2013-04-23 | Method for determining single-leg damage and damage position of tower body steel structure of tower crane |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107285201B (en) * | 2016-03-31 | 2018-11-13 | 山东建筑大学 | A kind of judgment method of stacker crane body damage |
| CN106553973B (en) * | 2017-01-16 | 2017-12-19 | 中国电建集团核电工程公司 | A kind of tower crane adds, subtracts standard knot method for safety monitoring and device |
| CN108466947B (en) * | 2018-05-25 | 2019-05-07 | 山东建筑大学 | A kind of method of real-time monitoring evaluation counter-jib side tower body rigidity state |
| CN111238427B (en) * | 2020-01-10 | 2021-04-27 | 山东建筑大学 | Method for monitoring damage of tower body steel structure of tower crane in real time |
| CN113239492B (en) * | 2021-04-09 | 2022-08-05 | 山东建筑大学 | Tower crane body steel structure damage positioning and monitoring method |
| CN113582020B (en) * | 2021-07-16 | 2023-08-04 | 山东建筑大学 | Method and system for identifying initial damage of tower mast structure |
| CN113868785A (en) * | 2021-09-02 | 2021-12-31 | 山东建筑大学 | Method for establishing tower body damage state characteristic point mapping model of tower crane and method for rapidly judging damage |
| CN115374575B (en) * | 2022-10-25 | 2023-03-24 | 山东建筑大学 | Tower crane body structure damage positioning method based on adjacent space point distance model |
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| CN102363508A (en) * | 2011-10-08 | 2012-02-29 | 济南富友慧明监控设备有限公司 | Rigidity-based tower body steel structure sound condition monitoring method and device |
| CN102431918A (en) * | 2011-09-15 | 2012-05-02 | 济南富友慧明监控设备有限公司 | Method for judging damage position on steel structure of tower body of tower crane |
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| CN102431918A (en) * | 2011-09-15 | 2012-05-02 | 济南富友慧明监控设备有限公司 | Method for judging damage position on steel structure of tower body of tower crane |
| CN102363508A (en) * | 2011-10-08 | 2012-02-29 | 济南富友慧明监控设备有限公司 | Rigidity-based tower body steel structure sound condition monitoring method and device |
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Address after: 250000 Hui Cheng Building, No. 1356, Sau Sau Road, Ji'nan hi tech Zone, Shandong, 1-203-A Patentee after: Shandong Fu Youhuiming measuring and controlling equipment Co., Ltd Address before: 250101 Ji'nan hi tech Zone Yingxiu Road, Ji'nan City, Shandong Province, Zhi Hui Mansion Patentee before: Jinan Fuyou Huiming Monitoring Equipment Co.,Ltd. |
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Address after: 250000 Hui Cheng Building, No. 1356, Sau Sau Road, Ji'nan hi tech Zone, Shandong, 1-203-A Patentee after: Shandong Fuyou Technology Co.,Ltd. Address before: 1-203-a, Zhihui building, 1356 Yingxiu Road, high tech Zone, Jinan Patentee before: SHANDONG FUYOU HUIMING MEASUREMENT AND CONTROL EQUIPMENT Co.,Ltd. |