CN103848345A - Precise positioning method and device of crane lifting hook and aluminum packet lifting ring - Google Patents
Precise positioning method and device of crane lifting hook and aluminum packet lifting ring Download PDFInfo
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- CN103848345A CN103848345A CN201210511933.8A CN201210511933A CN103848345A CN 103848345 A CN103848345 A CN 103848345A CN 201210511933 A CN201210511933 A CN 201210511933A CN 103848345 A CN103848345 A CN 103848345A
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- aluminium bag
- macrometer
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- control unit
- suspension ring
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Abstract
The invention discloses a precise positioning method and device of a crane lifting hook and an aluminum packet lifting ring. The method is as follows: a vertical rangefinder used for measuring a vertical height and a horizontal rangefinder used for measuring a horizontal distance are installed on the crane lifting hook; an operator in a crane firstly moves the center of the crane lifting hook to the same height as the center of the aluminum packet lifting ring vertically, according to the measurement value of the vertical rangefinder and the height value from the center of the aluminum packet lifting ring to the ground; then, the X direction distance W of the center of the aluminum packet lifting ring is measured through a vehicle-mounted rangefinder on a remote control buggy, and the center of the crane lifting hook is moved to L=W along the X direction according to the measurement value L of the horizontal rangefinder; the center of the crane lifting hook is moved along the Y direction to contact the lifting hook with the lifting ring by keeping the state of L=W, so as to finish the precise positioning of the crane lifting hook and the aluminum packet lifting ring. According to the precise positioning method disclosed by the invention, a DSP control unit is used as a control core to finish the quick and precise positioning when an aluminum packet is lifted by the crane. The crane operation can be simplified, the labor intensity of workers is alleviated, the working efficiency is improved and the production cost is reduced.
Description
Technical field
the present invention relates to accurate positioning method and device between a kind of crown block hook and aluminium bag suspension ring, belong to overhead traveling crane automatic positioning technology field, particularly belong to the field of locating technology of aluminum casting workshop overhead traveling crane lifting aluminium bag.
Background technology
overhead traveling crane is the key equipment of modern prebaked anode Aluminium Electrolysis, is suitable for prebaked anode aluminum electrolysis process and produces, and can meet the severe working environment in the electrolysis process such as aluminium electroloysis, foundry shop.Overhead traveling crane in foundry shop is used for lifting aluminium bag, needs operating personal positioning aluminium bag accurately in the time of lifting.Due on existing overhead traveling crane without accurate positioning device,, need workman to command at the scene overhead traveling crane chaufeur to position operation when the location, because foundry shop's temperature is very high, working environment very severe, labor strength is very large, as accidentally there is aluminium bag overthrow accident, accident also likely causes casualties.
Summary of the invention
the object of the invention is to, accurate positioning method and device between a kind of crown block hook and aluminium bag suspension ring are provided.Employing infrared probe range finding, and by DSP control unit as anacom element, position operation by screen display and voice message overhead traveling crane chaufeur, without personnel's on scene commander, to overcome the deficiencies in the prior art.
technical scheme of the present invention:
accurate positioning method between crown block hook and aluminium bag suspension ring, the method is on crown block hook, to install for measuring the vertical macrometer of vertical dimension and for measuring the horizontal macrometer of horizontal throw; Operating personal in overhead traveling crane first, according to the vertical observed reading of macrometer and the height value on aluminium bag suspension ring width between centers ground, moves to aluminium bag suspension ring center equal height by crown block hook central vertical; And then the X that records aluminium bag suspension ring center by the vehicle-mounted macrometer on remote operated vehicle is to distance W, then according to the observed reading L of horizontal macrometer by crown block hook center X to moving to L=W; Keep L=W state that crown block hook center is moved to suspension hook along Y-direction and contact with suspension ring, complete the accurate location between crown block hook and aluminium bag suspension ring.
in preceding method, described crown block hook central vertical moves to aluminium bag suspension ring center equal height and meets formula D
c
-R=H-h, wherein: D
c
the height of rings center apart from ground; R is suspension hook correction, refers to the distance of infrared probe apart from rings center; H is the bottom-to-top-height of aluminium bag; H is the radius of aluminium bag suspension ring.
in preceding method, described remote operated vehicle is positioned on the track on aluminium bag lifting one side wall limit, region, and track is parallel with wall; Read-out is installed on remote operated vehicle; The result of a measurement of vehicle-mounted macrometer shows by read-out.
in preceding method, the X at described aluminium bag suspension ring center is the distance of aluminium bag suspension ring centre distance factory building one side walls to distance W; W=X1+d+r, wherein: X1 is vehicle-mounted macrometer observed reading, refers to the closest range of probe apart from aluminium bag outer wall; D is the radius of aluminium bag; R is the distance of probe apart from factory building wall.
in preceding method, described suspension hook correction R, aluminium bag overall height H, aluminium bag suspension ring radius h, aluminium bag radius d and vehicle-mounted probe are inputted DSP control unit apart from the distance r of factory building wall by keyboard, DSP control unit, by after input data and take off data calculating, rings center being presented on LED liquid crystal display apart from the distance L of wall apart from height DC and the rings center on ground, points out the operating personal in overhead traveling crane to position operation by voice broadcast simultaneously.
in preceding method, described DSP control unit is arranged in crown block cab, and DSP control unit orbits by wireless remote control module control remote operated vehicle, and controls the measurement of vehicle-mounted macrometer.
press the device that preceding method forms, comprise the DSP control unit being located in crown block cab, DSP control unit and the vertical macrometer and the horizontal macrometer wired connection that are located on crown block hook, DSP control unit is through wireless remote control module and the remote operated vehicle wireless connections that are located on the one side walls limit track of aluminium bag lifting region.
in aforementioned means, described track is parallel with wall; Remote operated vehicle is provided with read-out and vehicle-mounted macrometer.
in aforementioned means, described DSP control unit is connected with man-machine interaction unit is two-way.
in aforementioned means, described man-machine interaction unit comprises keyboard, LED liquid crystal display and voice module, and keyboard is connected with the input end of DSP control unit, and LED liquid crystal display is connected with the mouth of DSP control unit with voice module.
compared with prior art, the present invention is based on infrared distance sensor, take DSP control unit accurate location fast when overhead traveling crane handling aluminium bag in control core completes foundry shop.There is cost low, practical, can be installed on existing overhead traveling crane, be easy to the feature of upgrading and transformation.Do not establish compared with pinpoint overhead traveling crane with existing, without very high in temperature, the severe lifting scene of environment arranges commanding, can simplify overhead traveling crane operation, alleviate labor strength, reduce the probability that personnel casualty accidents occurs, increase work efficiency, reduce production costs.
Accompanying drawing explanation
fig. 1 is structural representation of the present invention;
fig. 2 is planar view of the present invention;
fig. 3 is perpendicular positioning schematic diagram of the present invention;
fig. 4 is plane positioning schematic diagram of the present invention;
fig. 5 is mechanical flow diagram of the present invention;
fig. 6 is that overhead traveling crane moves diagram of circuit.
being labeled as in figure: 1-DSP control unit, 2-crown block hook, the vertical macrometer of 3-, the horizontal macrometer of 4-, 5-wireless remote control module, 6-aluminium bag lifting region, 7-wall, 8-track, 9-remote operated vehicle, 10-read-out, the vehicle-mounted macrometer of 11-, 12-man-machine interaction unit, 13-keyboard, 14-LED liquid crystal display, 15-voice module, 16-aluminium bag, 17-suspension ring.
The specific embodiment
below in conjunction with accompanying drawing, the present invention is described in further detail, but not as any limitation of the invention.
accurate positioning method between crown block hook and aluminium bag suspension ring, as depicted in figs. 1 and 2.The method is on crown block hook, to install for measuring the vertical macrometer of vertical dimension and for measuring the horizontal macrometer of horizontal throw; Operating personal in overhead traveling crane first, according to the vertical observed reading of macrometer and the height value on aluminium bag suspension ring width between centers ground, moves to aluminium bag suspension ring center equal height by crown block hook central vertical; And then the X that records aluminium bag suspension ring center by the vehicle-mounted macrometer on remote operated vehicle is to distance W, then according to the observed reading L of horizontal macrometer by crown block hook center X to moving to L=W; Keep L=W state that crown block hook center is moved to suspension hook along Y-direction and contact with suspension ring, complete the accurate location between crown block hook and aluminium bag suspension ring.Crown block hook central vertical moves to aluminium bag suspension ring center equal height and meets formula DC-R=H-h, wherein: DC is the height of rings center apart from ground; R is suspension hook correction, refers to the distance of infrared probe apart from rings center; H is the bottom-to-top-height of aluminium bag; H is the radius of aluminium bag suspension ring.Remote operated vehicle is positioned on the track on aluminium bag lifting one side wall limit, region, and track is parallel with wall; Read-out is installed on remote operated vehicle; The result of a measurement of vehicle-mounted macrometer shows by read-out.The X at aluminium bag suspension ring center is the distance of aluminium bag suspension ring centre distance factory building one side walls to distance W; W=X1+d+r, wherein: X1 is vehicle-mounted macrometer observed reading, refers to the closest range of probe apart from aluminium bag outer wall; D is the radius of aluminium bag; R is the distance of probe apart from factory building wall.Described suspension hook correction R, aluminium bag overall height H, aluminium bag suspension ring radius h, aluminium bag radius d and vehicle-mounted probe are inputted DSP control unit apart from the distance r of factory building wall by keyboard, DSP control unit, by after input data and take off data calculating, rings center being presented on LED liquid crystal display apart from the distance L of wall apart from height DC and the rings center on ground, points out the operating personal in overhead traveling crane to position operation by voice broadcast simultaneously.DSP control unit is arranged in crown block cab, and DSP control unit orbits by wireless remote control module control remote operated vehicle, and controls the measurement of vehicle-mounted macrometer.
press the device that preceding method forms, as depicted in figs. 1 and 2.Comprise the DSP control unit 1 being located in crown block cab, DSP control unit 1 and the vertical macrometer 3 and horizontal macrometer 4 wired connections that are located on crown block hook 2, DSP control unit 1 is through wireless remote control module 5 and remote operated vehicle 9 wireless connections that are located on the 6 one side walls 7 limit tracks 8 of aluminium bag lifting region.Described track 8 is parallel with wall 7; Remote operated vehicle 9 is provided with read-out 10 and vehicle-mounted macrometer 11.Described DSP control unit 1 is connected with man-machine interaction unit 12 is two-way.Described man-machine interaction unit 12 comprises keyboard 13, LED liquid crystal display 14 and voice module 15, and keyboard 13 is connected with the input end of DSP control unit 1, and LED liquid crystal display 14 is connected with the mouth of DSP control unit 1 with voice module 15.
perpendicular positioning method of the present invention as shown in Figure 3.First obtain aluminium bag height H, aluminium bag suspension ring radius h, overhead traveling crane hook radius R, (H, h, R) all belongs to conventional numerical value.When work, by keyboard input parameter H and corrected parameter h, corrected parameter R belongs to the intrinsic parameter of overhead traveling crane, can input in advance DSP control unit, after input parameter, overhead traveling crane is vertically to movement, vertical macrometer 3 detects ground clearance, in the time that distance reaches Dc, LED liquid crystal display and voice module alarm, overhead traveling crane stops vertically to movement.Wherein, described ground clearance Dc meets: D
c
-R=H-h+R vertically finishes to location.
and then carry out horizontal direction location, as shown in Figure 2 and Figure 4.Overhead traveling crane is linked up with 2 centers of circle and the aluminium bag suspension ring center of circle in same level.On horizontal X direction of principal axis, overhead traveling crane hook is L from the distance of wall 7, and suspension ring 17 centers of aluminium bag 16 are W from the distance of wall; Parameter L is measured by the horizontal macrometer 4 on crown block hook.In the time of L=W, crown block hook center and aluminium bag suspension ring center are in together in horizontal Y direction.
parameter L, the method for measurement of W is the 4X4 controlled by keyboard wireless remote control dolly by being connected with DSP control unit, utilizes the horizontal throw X1 of vehicle-mounted macrometer on dolly 11 to aluminium bag 16 outer walls, basis: W=X1+d+r calculates.In formula: d is aluminium bag radius, r is the vertical distance of dolly upper sensor to wall.X1 measures and is shown on dot matrix display screen curtain by dolly upper sensor, and d belongs to system coefficient of correction, and r belongs to the intrinsic parameter of system.Overhead traveling crane operator is measuring after X1, and by X1, d is input to system, can automatically calculate parameter W by DSP control unit.
working process of the present invention and principle are as shown in Figure 5
the present invention is undertaken vertically to location by the flow process of Fig. 5 after starting, first input aluminium bag height H by keyboard 13, after confirmation, input again coefficient of correction r, after confirmation vertically to mobile overhead crane, distance to the ground completes while reaching setting value Dc vertically to movement, and overhead traveling crane is linked up with 2 centers of circle and aluminium bag suspension ring 17 centers of circle in same level; Then carry out level to location, first handle remote operated vehicle, by the vehicle-mounted macrometer 11 measurement parameter X1 on car and be shown on matrix display, then utilize keyboard 13 by parameter X 1 and coefficient of correction d input system, after confirming, system-computed goes out aluminium bag suspension ring center to wall vertical distance W, overhead traveling crane carries out horizontal X and moves axially, and in the time of the vertical distance L=W of suspension ring width between centers wall 7, overhead traveling crane stops mobile.At this moment, crown block hook 2 centers and aluminium bag suspension ring 17 centers are in together in horizontal Y direction, and overhead traveling crane carries out horizontal Y-axis and moves, and crown block hook can stop mobile while contact with aluminium bag suspension ring, and finish system location.
when overhead traveling crane moves by the works of Fig. 6: while vertically movement, setting value is distance to the ground Dc, when mobile, vertically detects distance to the ground to rang sensor, in the time that distance to the ground reaches Dc, sends prompting by screen and voice module, and overhead traveling crane stops vertically to movement; When horizontal X moves axially, take the distance W of suspension hook and wall as benchmark, in the time that horizontal X axially reaches W to wall distance L, system is sent prompting by screen and voice module, and overhead traveling crane completes horizontal X and moves axially; When system level Y-axis moves, crown block hook touches completion system location work after aluminium bag suspension ring.
the function and effect of major part in the present invention
man-machine interaction unit 12, comprises 4X4 keyboard, LED LCD Panel and voice module.Man-machine interaction unit is connected with DSP control unit, wherein: input, the setting of systemic-function and the operation of wireless remote control dolly of 4X4 keyboard completion system parameter; The demonstration of LED LCD Panel completion system data; Voice module is realized the voice broadcast of system data.
wireless remote control module and remote operated vehicle pairing, wireless remote control module is connected with DSP control unit; Track 8 is layed in lifting region 6 one sides in foundry shop; Lifting region be foundry shop in one fixing for lifting the region of aluminium bag, as shown in Figure 2, a lifting region is set in foundry shop, aluminium bag lifts to be operated in this region and completes.Lifting region is other lays approximately corresponding with the lifting region track 8 of a length by wall 7 sides, travels for remote operated vehicle 9.Remote operated vehicle travels on track; Infrared distance sensor is output on dot matrix display screen curtain, is placed on wireless remote control dolly.After wireless remote control module is connected with DSP control unit, under system remote control mode, can controls wireless remote control dolly by two keys in the 4X4 keyboard in man-machine interaction unit and advance in orbit or retreat and measure.
non-elaborated part of the present invention belongs to those skilled in the art's known technology.
Claims (10)
1. the accurate positioning method between crown block hook and aluminium bag suspension ring, is characterized in that: the method is on crown block hook, to install for measuring the vertical macrometer of vertical dimension and for measuring the horizontal macrometer of horizontal throw; Operating personal in overhead traveling crane first, according to the vertical observed reading of macrometer and the height value on aluminium bag suspension ring width between centers ground, moves to aluminium bag suspension ring center equal height by crown block hook central vertical; And then the X that records aluminium bag suspension ring center by the vehicle-mounted macrometer on remote operated vehicle is to distance W, then according to the observed reading L of horizontal macrometer by crown block hook center X to moving to L=W; Keep L=W state that crown block hook center is moved to suspension hook along Y-direction and contact with suspension ring, complete the accurate location between crown block hook and aluminium bag suspension ring.
2. method according to claim 1, is characterized in that: described crown block hook central vertical moves to aluminium bag suspension ring center equal height and meets formula D
c-R=H-h, wherein: D
cthe height of rings center apart from ground; R is suspension hook correction, refers to the distance of infrared probe apart from rings center; H is the bottom-to-top-height of aluminium bag; H is the radius of aluminium bag suspension ring.
3. method according to claim 2, is characterized in that: described remote operated vehicle is positioned on the track on aluminium bag lifting one side wall limit, region, and track is parallel with wall; Read-out is installed on remote operated vehicle; The result of a measurement of vehicle-mounted macrometer shows by read-out.
4. method according to claim 3, is characterized in that: the X at described aluminium bag suspension ring center is the distance of aluminium bag suspension ring centre distance factory building one side walls to distance W; W=X1+d+r, wherein: X1 is vehicle-mounted macrometer observed reading, refers to the closest range of probe apart from aluminium bag outer wall; D is the radius of aluminium bag; R is the distance of probe apart from factory building wall.
5. method according to claim 4, it is characterized in that: described suspension hook correction R, aluminium bag overall height H, aluminium bag suspension ring radius h, aluminium bag radius d and vehicle-mounted probe are inputted DSP control unit apart from the distance r of factory building wall by keyboard, DSP control unit by after the calculating of input data and take off data by rings center the height D apart from ground
cbe presented on LED liquid crystal display apart from the distance L of wall with rings center, point out the operating personal in overhead traveling crane to position operation by voice broadcast simultaneously.
6. method according to claim 5, is characterized in that: described DSP control unit is arranged in crown block cab, DSP control unit orbits by wireless remote control module control remote operated vehicle, and controls the measurement of vehicle-mounted macrometer.
7. the device forming by method described in the arbitrary claim of claim 1-6, it is characterized in that: comprise the DSP control unit (1) being located in crown block cab, DSP control unit (1) and the vertical macrometer (3) and horizontal macrometer (4) wired connection that are located on crown block hook (2), DSP control unit (1) is through wireless remote control module (5) and remote operated vehicle (9) wireless connections that are located on (6) one side walls (7) the limit tracks (8) of aluminium bag lifting region.
8. install according to claim 7, it is characterized in that: described track (8) is parallel with wall (7); Remote operated vehicle (9) is provided with read-out (10) and vehicle-mounted macrometer (11).
9. install according to claim 7, it is characterized in that: described DSP control unit (1) and two-way connection of man-machine interaction unit (12).
10. install according to claim 9, it is characterized in that: described man-machine interaction unit (12) comprises keyboard (13), LED liquid crystal display (14) and voice module (15), keyboard (13) is connected with the input end of DSP control unit (1), and LED liquid crystal display (14) is connected with the mouth of DSP control unit (1) with voice module (15).
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| CN201210511933.8A CN103848345B (en) | 2012-12-04 | 2012-12-04 | Accurate positioning method between crown block hook and aluminum bag suspension ring and device |
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| CN201210511933.8A CN103848345B (en) | 2012-12-04 | 2012-12-04 | Accurate positioning method between crown block hook and aluminum bag suspension ring and device |
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Cited By (3)
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| CN104891338A (en) * | 2015-04-30 | 2015-09-09 | 共享装备有限公司 | Casting melting automatic charging system and method thereof |
| CN107161859A (en) * | 2017-07-26 | 2017-09-15 | 合肥新坞岩机械科技有限公司 | One kind plays thing alignment system with goods factory building with boat car |
| CN110342403A (en) * | 2019-07-01 | 2019-10-18 | 中冶宝钢技术服务有限公司 | A kind of steel coil handling method and lifting system |
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| CN103848345B (en) | 2016-12-21 |
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