CN103848345B - Accurate positioning method between crown block hook and aluminum bag suspension ring and device - Google Patents
Accurate positioning method between crown block hook and aluminum bag suspension ring and device Download PDFInfo
- Publication number
- CN103848345B CN103848345B CN201210511933.8A CN201210511933A CN103848345B CN 103848345 B CN103848345 B CN 103848345B CN 201210511933 A CN201210511933 A CN 201210511933A CN 103848345 B CN103848345 B CN 103848345B
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- aluminum bag
- suspension ring
- range finder
- crown block
- center
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Abstract
The invention discloses the accurate positioning method between a kind of crown block hook and aluminum bag suspension ring and device.Its method is to install the vertical range finder for measuring vertical height on crown block hook and for measuring the horizontal range finder of horizontal range；Crown block hook center first according to measured value and the height value on aluminum bag suspension ring centre-to-centre spacing ground of vertical range finder, is moved vertically to the identical height in aluminum bag suspension ring center by the operator in overhead traveling crane；Recorded the X at aluminum bag suspension ring center the most again by the vehicle-mounted range finder on remote operated vehicle to distance W, further according to the measured value L of horizontal range finder by crown block hook center X to mobile to L=W；Keep L=W state to be moved centrally along Y-direction by crown block hook to contact with suspension ring to suspension hook, complete being accurately positioned between crown block hook and aluminum bag suspension ring.The present invention with DSP control unit for control core complete overhead traveling crane handling aluminum bag time be quickly accurately positioned.Overhead traveling crane operation can be simplified, alleviate labor strength, improve work efficiency, reduce production cost.
Description
Technical field
The present invention relates to the accurate positioning method between a kind of crown block hook and aluminum bag suspension ring and device, belong to overhead traveling crane automatic
Field of locating technology, especially belongs to the field of locating technology of aluminum casting workshop overhead traveling crane lifting aluminum bag.
Background technology
Overhead traveling crane is the key equipment of modern prebaked anode aluminum electrolysis, is suitable for prebaked anode aluminum electrolysis process and produces, energy
Meet the harsh environments in the electrolysis process such as aluminium electroloysis, foundry.Overhead traveling crane in foundry is used for lifting aluminum bag,
Operator's positioning aluminium bag accurately is needed when lifting.Due on existing overhead traveling crane without accurate positioning device, need work during location
People commands overhead traveling crane driver to carry out positioning action at the scene, owing to foundry's temperature is the highest, and working environment very severe, workman
Labor intensity is very big, as accidentally there is aluminum bag overthrow accident, it is also possible to cause casualties accident.
Summary of the invention
It is an object of the invention to, it is provided that the accurate positioning method between a kind of crown block hook and aluminum bag suspension ring and device.
Employing infrared probe is found range, and by DSP control unit as analytical calculation machine element, is driven by screen display and voice message overhead traveling crane
Member carries out positioning action, it is not necessary to personnel on site commands, to overcome the deficiencies in the prior art.
Technical scheme:
Accurate positioning method between crown block hook and aluminum bag suspension ring, the method is to install on crown block hook for measuring
The vertical range finder of vertical height and for measuring the horizontal range finder of horizontal range；Operator in overhead traveling crane are first according to vertical
The measured value of range finder and the height value on aluminum bag suspension ring centre-to-centre spacing ground, move vertically to crown block hook center in aluminum bag suspension ring
The identical height of the heart；The X at aluminum bag suspension ring center is recorded the most again to distance W by the vehicle-mounted range finder on remote operated vehicle, further according to
The measured value L of horizontal range finder by crown block hook center X to mobile to L=W；Keep L=W state by crown block hook centrally along Y-direction
Move and contact with suspension ring to suspension hook, complete being accurately positioned between crown block hook and aluminum bag suspension ring.
In preceding method, described crown block hook center moves vertically to the identical height in aluminum bag suspension ring center and meets formula DC-R
=H-h, wherein: DCIt it is the rings center height away from ground；R is suspension hook correction value, refers to the infrared probe distance away from rings center；H
It it is the total height of aluminum bag；H is the radius of aluminum bag suspension ring.
In preceding method, described remote operated vehicle is positioned on the track on aluminum bag lifting wall limit, side, region, and track is put down with wall
OK；Display screen is installed on remote operated vehicle；The measurement result of vehicle-mounted range finder is shown by display screen.
In preceding method, the X at described aluminum bag suspension ring center is aluminum bag suspension ring centre distance Factory Building one side walls to distance W
Distance；W=X1+d+r, wherein: X1 is vehicle-mounted range finder measured value, refers to the probe minimum distance away from aluminum bag outer wall；D is aluminum bag
Radius；R is the probe distance away from Factory Building wall.
In preceding method, described suspension hook correction value R, aluminum bag overall height H, aluminum bag suspension ring radius h, aluminum bag radius d and vehicle-mounted
Probe distance r away from Factory Building wall is by input through keyboard DSP control unit, and DSP control unit will input data and measurement data
After calculating, the rings center height DC away from ground and rings center distance L away from wall are shown on LED liquid crystal display screen, lead to simultaneously
The operator crossed in voice broadcast prompting overhead traveling crane carry out positioning action.
In preceding method, described DSP control unit is arranged in crown block cab, and DSP control unit passes through wireless remote control
Module controls remote operated vehicle and orbits, and controls the measurement of vehicle-mounted range finder.
The device constituted by preceding method, including the DSP control unit being located in crown block cab, DSP control unit with
The vertical range finder being located on crown block hook and horizontal range finder wired connection, DSP control unit through wireless remote control module with set
Remote operated vehicle wireless connections on the track of aluminum bag lifting wall limit, side, region.
In aforementioned means, described track is parallel with wall；Remote operated vehicle is provided with display screen and vehicle-mounted range finder.
In aforementioned means, described DSP control unit is bi-directionally connected with man-machine interaction unit.
In aforementioned means, described man-machine interaction unit includes that keyboard, LED liquid crystal display screen and voice module, keyboard control with DSP
The input of unit connects, and LED liquid crystal display screen and voice module are connected with the outfan of DSP control unit.
Compared with prior art, the present invention, based on infrared distance sensor, completes casting with DSP control unit for control core
Being quickly accurately positioned when making overhead traveling crane handling aluminum bag in workshop.There is low cost, practical, existing overhead traveling crane can be installed in
On, it is easy to the feature upgraded and transform.With existing do not set pinpoint overhead traveling crane compared with, it is not necessary to the highest in temperature, bad environments
Lifting site setup commanding, overhead traveling crane operation can be simplified, alleviate labor strength, reduce what personnel casualty accidents occurred
Probability, improves work efficiency, reduces production cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is site plan 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 the mechanical flow diagram of the present invention；
Fig. 6 is that overhead traveling crane moves flow chart.
Being labeled as in figure: 1-DSP control unit, 2-crown block hook, the vertical range finder of 3-, the horizontal range finder of 4-, 5-without
Line remote control module, 6-aluminum bag lifting region, 7-wall, 8-track, 9-remote operated vehicle, 10-display screen, the vehicle-mounted range finder of 11-,
12-man-machine interaction unit, 13-keyboard, 14-LED liquid crystal display screen, 15-voice module, 16-aluminum bag, 17-suspension ring.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings, but not as any limitation of the invention.
Accurate positioning method between crown block hook and aluminum bag suspension ring, as depicted in figs. 1 and 2.The method is to hang at overhead traveling crane
Install for measuring the vertical range finder of vertical height and for measuring the horizontal range finder of horizontal range on hook；Behaviour in overhead traveling crane
Make personnel first according to measured value and the height value on aluminum bag suspension ring centre-to-centre spacing ground of vertical range finder, by vertical for crown block hook center
Mobile to the identical height in aluminum bag suspension ring center；Aluminum bag suspension ring center is recorded the most again by the vehicle-mounted range finder on remote operated vehicle
X to distance W, further according to the measured value L of horizontal range finder by crown block hook center X to mobile to L=W；Keep L=W state by sky
Car rings center moves along Y-direction and contacts with suspension ring to suspension hook, completes being accurately positioned between crown block hook and aluminum bag suspension ring.Overhead traveling crane
Rings center moves vertically to the identical height in aluminum bag suspension ring center and meets formula DC-R=H-h, wherein: DC is that rings center is away from ground
The height in face；R is suspension hook correction value, refers to the infrared probe distance away from rings center；H is the total height of aluminum bag；H is aluminum bag suspension ring
Radius.Remote operated vehicle is positioned on the track on aluminum bag lifting wall limit, side, region, and track is parallel with wall；Install on remote operated vehicle
There is display screen；The measurement result of vehicle-mounted range finder is shown by display screen.The X at aluminum bag suspension ring center is aluminum bag suspension ring to distance W
The distance of centre distance Factory Building one side walls；W=X1+d+r, wherein: X1 is vehicle-mounted range finder measured value, refers to that probe is outside aluminum bag
The minimum distance of wall；D is the radius of aluminum bag；R is the probe distance away from Factory Building wall.Described suspension hook correction value R, aluminum bag total height
H, aluminum bag suspension ring radius h, aluminum bag radius d and vehicle-mounted probe distance r away from Factory Building wall pass through input through keyboard DSP control unit,
DSP control unit input data and measurement data are calculated after by the rings center height DC away from ground and rings center away from wall
Distance L show on LED liquid crystal display screen, simultaneously by voice broadcast prompting overhead traveling crane in operator carry out positioning action.DSP
Control unit is arranged in crown block cab, and DSP control unit controls remote operated vehicle by wireless remote control module and transports in orbit
OK, and control the measurement of vehicle-mounted range finder.
The device constituted by preceding method, as depicted in figs. 1 and 2.Including the DSP control unit being located in crown block cab
1, DSP control unit 1 and the vertical range finder 3 being located on crown block hook 2 and horizontal range finder 4 wired connection, DSP control unit
1 through wireless remote control module 5 and remote operated vehicle 9 wireless connections being located on aluminum bag lifting side walls 7 limit, region 6 one track 8.Described
Track 8 is parallel with wall 7；Remote operated vehicle 9 is provided with display screen 10 and vehicle-mounted range finder 11.Described DSP control unit 1 is with man-machine
Interactive unit 12 is bi-directionally connected.Described man-machine interaction unit 12 includes keyboard 13, LED liquid crystal display screen 14 and voice module 15, keyboard
13 are connected with the input of DSP control unit 1, and the outfan of LED liquid crystal display screen 14 and voice module 15 and DSP control unit 1 is even
Connect.
Perpendicular positioning method of the present invention is as shown in Figure 3.First obtaining aluminum bag height H, aluminum bag suspension ring radius h, overhead traveling crane is linked up with
Radius R, (H, h, R) belongs to convenient value.During work, by keyboard input parameter H and corrected parameter h, corrected parameter R belongs to
The intrinsic parameter of overhead traveling crane, can be previously entered DSP control unit, and after input parameter, overhead traveling crane is vertically to movement, and vertical range finder 3 is examined
Surveying ground clearance, when distance reaches Dc, LED liquid crystal display screen and voice module alarm, overhead traveling crane stops vertical to movement.Its
In, described ground clearance Dc meets: DC-R=H-h+R vertically terminates to location.
Carry out horizontal direction location the most again, as shown in Figure 2 and Figure 4.Overhead traveling crane is linked up with 2 centers of circle and is in the aluminum bag suspension ring center of circle
Same level.On horizontal X direction of principal axis, overhead traveling crane hook is L from the distance of wall 7, suspension ring 17 center of aluminum bag 16 from wall away from
From for W；Parameter L is measured by the horizontal range finder 4 on crown block hook.As L=W, crown block hook center is with aluminum bag suspension ring center i.e.
It is in together in horizontal Y direction.
Parameter L, the measuring method of W is the 4X4 controlled by keyboard wireless remote control dolly by being connected with DSP control unit, profit
By horizontal range X1 of the vehicle-mounted range finder 11 on dolly to aluminum bag 16 outer wall, then basis: W=X1+d+r calculates.In formula:
D is aluminum bag radius, r be on dolly sensor to the vertical dimension of wall.X1 is by sensor measurement on dolly and is shown in dot matrix and shows
On display screen curtain, d belongs to system correction factor, and r belongs to the intrinsic parameter of system.Overhead traveling crane operator is after measuring X1, by defeated to X1, d
Enter to system, can automatically be calculated parameter W by DSP control unit.
The work process of the present invention and principle are as shown in Figure 5
The present invention is carried out vertical to location by the flow process of Fig. 5 after starting, first pass through keyboard 13 and input aluminum bag height H, really
Introduced Malaria coefficient r again after recognizing, vertical to mobile overhead crane after confirmation, distance to the ground reaches to complete during setting value Dc vertical to shifting
Dynamic, overhead traveling crane is linked up with 2 centers of circle and is in same level with aluminum bag suspension ring 17 center of circle；Then carry out level to location, first handle remote control
Dolly, measures parameter X1 by the vehicle-mounted range finder 11 on car and is shown on matrix display, then utilizes keyboard 13 to join
Number X1 and correction factor d input system, after confirmation, system-computed goes out aluminum bag suspension ring center wall vertical dimension W, overhead traveling crane is carried out water
Flat X axis moves, and when vertical dimension L=W of suspension ring centre-to-centre spacing wall 7, overhead traveling crane stops mobile.At this moment, crown block hook 2 center
I.e. being in together in horizontal Y direction with aluminum bag suspension ring 17 center, overhead traveling crane carries out horizontal Y-axis and moves, and crown block hook hangs with aluminum bag
Can stop mobile during ring contact, system location is terminated.
Work by the flow process of Fig. 6 when overhead traveling crane moves: when vertically moving, setting value is distance to the ground Dc, time mobile vertically to
Range sensor detection distance to the ground, sends prompting when distance to the ground reaches Dc by screen and voice module, and overhead traveling crane stops
Vertical to movement；When horizontal X moves axially, on the basis of suspension hook distance W with wall, when horizontal X axially reaches W to wall distance L
Time system send prompting by screen and voice module, overhead traveling crane completes horizontal X and moves axially；When system level Y-axis moves, sky
Car suspension hook touches completion system location work after aluminum bag suspension ring.
The function of critical piece and effect in the present invention
DSP control unit 1, the system master unit with DSP as core, connect sensor unit, man-machine interaction unit and
Wireless remote control unit；Complete the detection of sensing data, the analysis of system data and calculating, the output of system data and display etc.
Function.
Vertical range finder 3, horizontal range finder 4 and vehicle-mounted range finder 11 all use infrared distance sensor, and infrared distance measurement passes
Sensor has a pair infrared signal and launches and reception diode, and transmitting tube launches the infrared signal of characteristic frequency, receives pipe and receives
The infrared signal of this frequency, when infrared detection direction runs into barrier, infrared signal reflects and is received by reception pipe,
After processing, return to DSP control unit by digital sensor interface.Infrared distance sensor add visual sharp
Light ray, it is simple to the carrying out of measurement.
Man-machine interaction unit 12, including 4X4 keyboard, LED LCD Panel and voice module.Man-machine interaction unit with
DSP control unit connects, wherein: input, the setting of systemic-function and the wireless remote control dolly of 4X4 keyboard completion system parameter
Operation；The display of LED LCD Panel completion system data；Voice module realizes the voice broadcast of system data.
Wireless remote control module matches with remote operated vehicle, and wireless remote control module is connected with DSP control unit；Track 8 is layed in
Side, lifting region 6 in foundry；Lifting region is a fixing region for lifting aluminum bag in foundry, as
Shown in Fig. 2, arranging a lifting region in foundry, aluminum bag lifting work completes in the region.Lifting is leaned on by region
The track 8 that a length is about corresponding with lifting region is laid in wall 7 side, travels for remote operated vehicle 9.Remote operated vehicle travels on
On track；Infrared distance sensor is output on lattice display screen, is placed on wireless remote control dolly.Wireless remote control module with
After DSP control unit connects, the most controlled by two keys in the 4X4 keyboard in man-machine interaction unit under system remote control pattern
Wireless remote control dolly processed advances in orbit or retreats and measures.
Non-elaborated part of the present invention belongs to the known technology of those skilled in the art.
Claims (10)
1. the accurate positioning method between a crown block hook and aluminum bag suspension ring, it is characterised in that: the method is at crown block hook
Upper installation is for measuring the vertical range finder of vertical height and for measuring the horizontal range finder of horizontal range；Operation in overhead traveling crane
Crown block hook center first according to measured value and the height value on aluminum bag suspension ring centre-to-centre spacing ground of vertical range finder, is vertically moved by personnel
Move to the identical height in aluminum bag suspension ring center；The X at aluminum bag suspension ring center is recorded the most again by the vehicle-mounted range finder on remote operated vehicle
To distance W, further according to the measured value L of horizontal range finder by crown block hook center X to mobile to L=W；Keep L=W state by overhead traveling crane
Rings center moves along Y-direction and contacts with suspension ring to suspension hook, completes being accurately positioned between crown block hook and aluminum bag suspension ring.
Method the most according to claim 1, it is characterised in that: described crown block hook center moves vertically to aluminum bag suspension ring center
Identical height meets formula DC-R=H-h, wherein: DCIt it is the rings center height away from ground；R is suspension hook correction value, refers to infrared spy
The head distance away from rings center；H is the total height of aluminum bag；H is the radius of aluminum bag suspension ring.
Method the most according to claim 2, it is characterised in that: described remote operated vehicle is positioned at aluminum bag lifting wall limit, side, region
On track, track is parallel with wall；Display screen is installed on remote operated vehicle；The measurement result of vehicle-mounted range finder is by display screen display
Show.
Method the most according to claim 3, it is characterised in that: the X at described aluminum bag suspension ring center is in aluminum bag suspension ring to distance W
The distance of heart distance Factory Building one side walls；W=X1+d+r, wherein: X1 is vehicle-mounted range finder measured value, refers to that probe is away from aluminum bag outer wall
Minimum distance；D is the radius of aluminum bag；R is the probe distance away from Factory Building wall.
Method the most according to claim 4, it is characterised in that: described suspension hook correction value R, aluminum bag overall height H, aluminum bag suspension ring half
Footpath h, aluminum bag radius d and vehicle-mounted probe distance r away from Factory Building wall pass through input through keyboard DSP control unit, and DSP control unit will
Input data and measurement data calculate after by the rings center height D away from groundCShow with rings center distance L away from wall
On LED liquid crystal display screen, carry out positioning action by the operator in voice broadcast prompting overhead traveling crane simultaneously.
Method the most according to claim 5, it is characterised in that: described DSP control unit is arranged in crown block cab, DSP
Control unit controls remote operated vehicle by wireless remote control module and orbits, and controls the measurement of vehicle-mounted range finder.
7. according to accurately determining between crown block hook and the aluminum bag suspension ring of method composition described in claim 1-6 any claim
Position device, it is characterised in that: include the DSP control unit (1) being located in crown block cab, DSP control unit (1) be located at sky
Vertical range finder (3) on car suspension hook (2) and horizontal range finder (4) wired connection, DSP control unit (1) is through wireless remote control mould
Block (5) and remote operated vehicle (9) wireless connections being located on aluminum bag lifting side walls (7) limit track, region (6) (8).
Device the most according to claim 7, it is characterised in that: described track (8) is parallel with wall (7)；On remote operated vehicle (9)
It is provided with display screen (10) and vehicle-mounted range finder (11).
Device the most according to claim 7, it is characterised in that: described DSP control unit (1) is double with man-machine interaction unit (12)
To connection.
Device the most according to claim 9, it is characterised in that: described man-machine interaction unit (12) includes keyboard (13), LED
Liquid crystal display screen (14) and voice module (15), keyboard (13) is connected with the input of DSP control unit (1), LED liquid crystal display screen (14) and
Voice module (15) is connected with the outfan of DSP control unit (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210511933.8A CN103848345B (en) | 2012-12-04 | 2012-12-04 | Accurate positioning method between crown block hook and aluminum bag suspension ring and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| CN103848345A CN103848345A (en) | 2014-06-11 |
| CN103848345B true CN103848345B (en) | 2016-12-21 |
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| CN201210511933.8A Active 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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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104891338B (en) * | 2015-04-30 | 2017-01-04 | 共享装备有限公司 | Casting smelting automatic material feeding system and method |
| 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 |
| CN110342403B (en) * | 2019-07-01 | 2020-06-09 | 中冶宝钢技术服务有限公司 | Steel coil hoisting method and hoisting system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2715391B1 (en) * | 1994-01-24 | 1996-03-22 | Lorraine Laminage | Anti-collision device and method for a mobile. |
| JPH112508A (en) * | 1997-06-13 | 1999-01-06 | Sumitomo Heavy Ind Ltd | Position detecting device for lifting load |
| CN200981788Y (en) * | 2006-12-15 | 2007-11-28 | 鞍山起重控制设备有限公司 | Distance-measuring positioning device for crane wireless guiding system |
| CN201125130Y (en) * | 2007-10-09 | 2008-10-01 | 上海明路绳网索具有限公司 | Container handling anticollision device using laser to scan |
| KR20090113988A (en) * | 2008-04-29 | 2009-11-03 | 조성곤 | Method and apparatus for crane position verification |
| CN101665216B (en) * | 2009-09-29 | 2012-02-08 | 三一集团有限公司 | Control method of move track of container crane, system and device |
| CN102431895B (en) * | 2011-09-07 | 2013-12-25 | 中南大学 | Container aligning system and method |
| CN102491181A (en) * | 2011-12-20 | 2012-06-13 | 武汉理工大学 | Steel freight yard digitalized three-dimensional positioning method based on portal crane positioning |
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