CN104891357B - lifting operation auxiliary system - Google Patents
lifting operation auxiliary system Download PDFInfo
- Publication number
- CN104891357B CN104891357B CN201510309998.8A CN201510309998A CN104891357B CN 104891357 B CN104891357 B CN 104891357B CN 201510309998 A CN201510309998 A CN 201510309998A CN 104891357 B CN104891357 B CN 104891357B
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- China
- Prior art keywords
- arm
- joint
- guide rail
- column
- screw
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The present invention provides a kind of lifting operation auxiliary system, to solve the problems, such as that lifting operation efficiency is low, risk is high.A kind of lifting operation auxiliary system, including：Arm, suspension hook, sensor, computer console and collision detecting device；Wherein, the suspension hook is connect by lifting rope with the arm, and sensor is installed with respectively on the movable joint of the arm and the suspension hook；The sensor is used to obtain the dynamic position coordinate of the arm and suspension hook, and the dynamic position coordinate is sent to the computer console and the collision detecting device；The computer console is connect with the sensor wireless, for the dynamic position Coordinate generation lifting operation track sent according to the sensor；The collision detecting device is connect with the sensor wireless, and the dynamic position coordinate for being sent according to the sensor judges whether suspension hook collides with lifting object.The present invention can improve efficiency and the safety of lifting operation, reduce the risk of lifting operation.
Description
Technical field
The present invention relates to machinery manufacturing technology field, more particularly to a kind of lifting operation auxiliary system.
Background technology
In Large-scale Hoisting system, can quickly, accurately and efficiently to car launcher hoisting object, be one very crucial
Technical indicator.And the lifting training of object is not only the important content that the daily skill of operating personnel is frequently trained, while is also to ensure
The object system completes the important link of task.
Traditional large-sized object lifting operation is in a kind of situation of high risk.First, operating personnel can not accurately see
The position situation outside tens meters of high-altitudes is measured, thus quickly and accurately lifting operation can not be carried out；Secondly, lifting environment often compares
It is relatively severe, such as encounter big dust storm, thick fog, working space limitation, under the influence of these factors, for the efficiency of lifting,
Safety is always influenced there is certain.Whether formally lifting work or training are all hidden there are safety in this case
Suffer from.
Invention content
The present invention provides a kind of lifting operation auxiliary system, to solve the problems, such as that lifting operation efficiency is low, risk is high.
To solve the above-mentioned problems, the invention discloses a kind of lifting operation auxiliary systems, which is characterized in that including：It hangs
Arm, suspension hook, sensor, computer console and collision detecting device；Wherein, the suspension hook is connected by lifting rope and the arm
It connects, sensor is installed with respectively on the movable joint of the arm and the suspension hook；The sensor is described for obtaining
The dynamic position coordinate of arm and suspension hook, and the dynamic position coordinate is sent to the computer console and the collision
Detection device；The computer console is connect with the sensor wireless, for the dynamic bit sent according to the sensor
Put Coordinate generation lifting operation track；The collision detecting device is connect with the sensor wireless, for according to the sensing
The dynamic position coordinate that device is sent judges whether suspension hook collides with lifting object.
Preferably, the sensor includes position sensor and IGPS.
Preferably, the arm includes：Basic arm, a joint arm, two joint arms, three joint arms and four joint arms；Wherein, it is described basic
Arm one end is mounted on the fixed frame of crane, and the fixed frame is mounted on the rotary disk of crane vehicle frame；One joint arm passes through
Guide rail and sliding block stretch on the basic arm；Two joint arm is stretched by guide rail and sliding block in a joint arm；It is described
Three joint arms are stretched by guide rail and sliding block in two joint arm；Four joint arm is stretched by guide rail and sliding block in described three sections
On arm, and four joint arm is connect by lifting rope with the suspension hook.
Preferably, the sensor is five, is fixedly installed in the basic arm, a joint arm, two joint arms, three sections respectively
The joint of arm, four joint arms.
Preferably, hydraulic device is installed, described hydraulic device one end passes through between the basic arm and the fixed frame
Screw is mounted on the fixed frame, and the hydraulic device other end is connected with the basic arm, pushes a joint arm, two sections
Arm, three joint arms and four joint arms are stretched on the guide rail；The basic arm other end is fixed on the fixed frame by supporting rack
On.
Preferably, the basic arm includes：Basic arm column, guide rail, sliding block, the first screw and the second screw；Wherein, institute
It states basic arm column with the hydraulic device to be connected, the guide rail is provided in the basic arm column, is set in the guide rail
There is the sliding block, the sliding block is connected by second screw with the guide rail, and the basic arm column leads to the guide rail
It crosses first screw to be fixed, sensor is installed on the outside of the basic arm column.
Preferably, a joint arm includes：One joint arm column, guide rail, sliding block, the first screw and the second screw；Wherein, institute
It states a joint arm column with the basic arm column to be connected, the guide rail, the guide rail peripheral hardware is provided in the joint arm column
The sliding block is equipped with, the sliding block is connected by second screw with the guide rail, the joint arm column and the guide rail
It is fixed by first screw, sensor is installed on the outside of the joint arm column.
Preferably, two joint arm includes：Two joint arm columns, guide rail, sliding block, the first screw and the second screw；Wherein, institute
It states two joint arm columns with the joint arm column to be connected, the guide rail, the guide rail peripheral hardware is provided in the two joint arms column
The sliding block is equipped with, the sliding block is connected by second screw with the guide rail, the two joint arms column and the guide rail
It is fixed by first screw, sensor is installed on the outside of the two joint arms column.
Preferably, the three joint arms include：Three joint arms column, guide rail, sliding block, the first screw and the second screw；Wherein, institute
It states three joint arms column with the two joint arms column to be connected, the guide rail, the guide rail peripheral hardware is provided in the three joint arms column
The sliding block is equipped with, the sliding block is connected by second screw with the guide rail, the three joint arms column and the guide rail
It is fixed by first screw, sensor is installed on the outside of the three joint arms column.
Preferably, four joint arm includes：Four joint arm columns, guide rail, sliding block, the first screw, the second screw and rope are consolidated
Determine hole；Wherein, the four joint arms column side is connected with the three joint arms column, and the four joint arms column opposite side setting is
Rope fastening hole is stated, the guide rail is provided in the four joint arms column, the sliding block, the sliding block are provided with outside the guide rail
It is connected by second screw with the guide rail, the four joint arms column is consolidated with the guide rail by first screw
It is fixed, sensor is installed on the outside of the four joint arms column.
Compared with prior art, the present invention includes advantages below：
Lifting operation auxiliary system provided by the invention is sensed by being installed on all movable joints and suspension hook of arm
Device utilizes arm during data-base recording lifting operation by the real-time detecting distance of collision detecting device, computer console
Movement locus, can see hoisting personnel and indicate docking site relative position and distance etc. coefficients, guiding operation
Personnel complete the operation of high-altitude Large-scale Hoisting, therefore can improve the efficiency of lifting operation, improve the safety of lifting operation, so as to
Reduce the risk of lifting operation.
First, lifting operation auxiliary system provided by the invention, by sensor application basic arm, a joint arm, two joint arms,
Three joint arms, four joint arm arms each joint on, the relative position coordinates that can be accurately obtained in motion process.Secondly, this hair
The lifting operation auxiliary system of bright offer, can be by sensor in hoisting process by sensor application in lifting operation
Acquisition position point coordinates in time is suitble to large complicated high-altitude scene.Again, lifting operation auxiliary system provided by the invention passes
The position point coordinates acquired in hoisting process is transferred to computer console by sensor, and computer console is to the seat that is acquired
Punctuate carries out that database is recorded, and generation high-altitude large scale equipment lifting path curves can be right after the completion of lifting operation
Track is recycled, so as to also realize the virtual lifting training and assessment evaluation to operating personnel.Computer console can utilize meter
Data record is generated movement locus by calculation machine, suitable for the virtual training of high risk lifting operation.Finally, it is provided by the invention to hang
Industry auxiliary system is pretended, the position point coordinates acquired in hoisting process is transferred to collision detecting device, collision inspection by sensor
The real-time detecting distance of device is surveyed to collide to avoid in hoisting process, therefore the safety of lifting operation can be improved, from
And existing risk during lifting operation is reduced, suitable for carrying out collision detection to large complicated high risk scene.
Description of the drawings
Fig. 1 is a kind of overall structure schematic three dimensional views of lifting operation system of the embodiment of the present invention；
Fig. 2 is a kind of overall structure schematic three dimensional views of lifting operation auxiliary system of the embodiment of the present invention；
Fig. 3 is a kind of overall structure two-dimensional representation of lifting operation auxiliary system of the embodiment of the present invention；
Fig. 4 is the overall structure two-dimensional representation of another kind lifting operation auxiliary system of the embodiment of the present invention；
Fig. 5 is the structure diagram of basic arm in a kind of lifting operation auxiliary system of the embodiment of the present invention；
Fig. 6 is the structure diagram of a joint arm in a kind of lifting operation auxiliary system of the embodiment of the present invention；
Fig. 7 is the structure diagram of two joint arms in a kind of lifting operation auxiliary system of the embodiment of the present invention；
Fig. 8 is the structure diagram of three joint arms in a kind of lifting operation auxiliary system of the embodiment of the present invention；
Fig. 9 is the structure diagram of four joint arms in a kind of lifting operation auxiliary system of the embodiment of the present invention；
Figure 10 is the algorithm schematic diagram of collision detecting device in a kind of lifting operation auxiliary system of the embodiment of the present invention.
Reference numeral：
1- arms, 2- suspension hooks, 3- operational windows, 4- sensors, 7- lifting ropes, 8- basic arms, mono- joint arms of 9-, bis- joint arms of 10-,
11- three joint arms, tetra- joint arms of 12-, 15- basic arms column, 16- guide rails, 17- sliding blocks, the first screws of 18-, the second screws of 19-, 20-
One joint arm column, bis- joint arm columns of 21-, 22- three joint arms column, tetra- joint arm columns of 23-, 24- rope fastening holes.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
Lifting operation auxiliary system provided by the invention is illustrated with reference to Fig. 1, Fig. 2 and Fig. 3.With reference to Fig. 1, show
A kind of overall structure schematic three dimensional views of lifting operation system of the embodiment of the present invention are gone out, lifting operation provided in this embodiment is auxiliary
Auxiliary system is on the crane for being applied to implement lifting operation, and Fig. 1 is exactly the entirety of lifting operation system, i.e. the three-dimensional of crane is shown
It is intended to, and Fig. 2 is the overall structure schematic three dimensional views of the present embodiment lifting operation auxiliary system, lifting operation is auxiliary in the present embodiment
Auxiliary system is mainly combined with the arm of crane 1, suspension hook 2 and operational window 3.Fig. 3 is lifting operation auxiliary system corresponding with Fig. 2
The overall structure two-dimensional representation of system, lifting operation auxiliary system in the present embodiment, can specifically include：Arm 1, passes suspension hook 2
Sensor 4, computer console and collision detecting device；Wherein,
The suspension hook 2 is connect by lifting rope 7 with the arm 1, is divided on the movable joint of the arm 1 and the suspension hook 2
It is not installed with sensor 4.It should be noted that the arm 1 is mounted on the fixed frame of crane, the fixed frame installation
On the rotary disk of crane vehicle frame.
The sensor 4 is used to obtain the dynamic position coordinate of the arm 1 and suspension hook 2, and the dynamic position is sat
Mark is sent to the computer console and the collision detecting device.It should be noted that in a kind of preferred reality of the present invention
Apply in example, the lifting operation auxiliary system include multiple sensors, be fixedly installed in respectively the arm 1 movable joint and
On the suspension hook 2, during specific implementation, the sensor can include position sensor and/or IGPS, and (IGPS, English full name are
Indoor GPS, therefore also referred to as indoor GPS.According to the measuring principle of GPS, there has been proposed three based on region GPS technology
Measurement theory is tieed up, and then is had developed a kind of with high-precision, high reliability and efficient indoor GPS system.Indoor GPS system
Subordination is usually applied in coordinate measuring technology in the metering of large scale geometric sense.Its principle utilizes triangulation as GPS
Principle establishes coordinate system, the difference is that IGPS uses infrared laser, instead of satellite-signal, it sends out infrared letter using transmitter
Number, numerous receivers can independently calculate their current location, and transmitter is usually otherwise known as base station.IGPS is large scale essence
Close measurement and positioning provide completely new thinking).
It should be noted that above-mentioned "and/or" includes following three kinds of situations：(1) sensor includes position sensor,
Position sensor is fixedly mounted on the movable joint and the suspension hook of i.e. described arm；(2) sensor includes IGPS, i.e.,
IGPS is installed on the movable joint of the arm and the suspension hook；(3) sensor include position sensor and
Position sensor and IGPS are fixedly mounted on the movable joint and the suspension hook of that is, described arm by IGPS.Position sensing at this time
Device and IGPS are fixedly installed in simultaneously on the movable joint and the suspension hook 2 of the arm 1, therefore can be cut according to actual conditions
Emat sensor obtains the dynamic position coordinate of arm and suspension hook.
The computer console and 4 wireless connection of sensor, for the dynamic bit sent according to the sensor 4
Put Coordinate generation lifting operation track.It should be noted that the computer console is located in the operational window 3 of crane, it is described
Operational window 3 is connect with the arm 1.The lifting operation track that computer console is generated can carry out virtual training.It is described
Computer console be located in crane operation cabin 3, the dynamic position coordinate that the sensor 4 is sent can be received, located
Reason；The arm 1 is connect with the operational window 3 by supporting rack.
The collision detecting device and 4 wireless connection of sensor, for the dynamic bit sent according to the sensor 4
It puts coordinate and judges whether suspension hook 2 collides with lifting object.It should be noted that the collision detecting device is located at the operational window of crane
In 3, the operational window 3 is connect with the arm 1.Collision detecting device can obtain component and connect the relative position in hole so that
Hoisting personnel judges relative position relation of the component with connecing hole in lifting operation according to the component and the relative position for connecing hole
With distance etc. coefficients, so as to guide hoisting personnel complete operation, therefore collision detecting device can in real time detection part with connect hole
Distance.The dynamic position coordinate that the collision detecting device can be fed back according to the sensor 4, use are plug-type
Both go deep into the calculating of priority algorithm type, judge whether suspension hook and two enclosure bodies of lifting object have lap, and then judge
Between whether collide；It should be noted that specific implementation when the collision detecting device can be crash detection device, Huo Zhewei
It can realize the other equipment of above-mentioned function, the present embodiment is not limited the concrete form of collision detecting device.
In present invention preferred embodiment as shown in Figure 4, the arm 1 includes：Basic arm 8, a joint arm 9, two joint arms
10th, 11 and four joint arm 12 of three joint arms；Wherein, the basic arm 8 is mounted on the fixed frame of crane, and the fixed frame is mounted on and hangs
On the rotary disk of vehicle carriage；One joint arm 9 is fixed on by guide rail and sliding block on the basic arm 8；Two joint arm 10 is logical
It crosses guide rail and sliding block is fixed in a joint arm 9；The three joint arms 11 are fixed on two joint arm 10 by guide rail and sliding block
On；Four joint arm 12 is fixed on by guide rail and sliding block in the three joint arms 11, and four joint arm 12 passes through lifting rope 7 and institute
Suspension hook 2 is stated to connect.
In one preferred embodiment of the invention, the sensor be five, be fixedly installed in respectively the basic arm,
One joint arm, two joint arms, three joint arms, four joint arms joint.It should be noted that the sensor in the present embodiment is (including position
Sensor and IGPS) on all movable joints of arm, the large arm including arm, forearm, what telescopic arm was connected with each other
Joint is fitted with the sensor.
In present invention preferred embodiment as shown in Figure 5, hydraulic pressure is installed between the basic arm 8 and the fixed frame
Device, described hydraulic device one end are mounted on by screw on the fixed frame, the hydraulic device other end with it is described basic
Arm 8 is connected, and a joint arm 9, two joint arms 10,11 and four joint arm 12 of three joint arms is pushed to stretch on the guide rail；It is described basic
8 one end of arm is connected with the hydraulic device, and the other end is fixed on by supporting rack on the fixed frame.It should be noted that institute
It states hydraulic device one end to be mounted on by screw in the fixed seat of arm 1, the fixed seat of the arm 1 is mounted on institute by screw
It states on fixed frame.One joint arm 9, two joint arms 10,11 and four joint arm 12 of three joint arms arm and arm between pass through guide rail and sliding block
Connection is stretched by the impetus of hydraulic device on the guide rail.Hydraulic device is installed on the fixed frame, by liquid
The hydraulic coupling driving hydraulic cylinder of pressure device is stretched, and drives the flexible of basic arm 8, is inconjunction with a joint arm 9, two joint arms 10, three section
11 and four joint arm 12 of arm is further stretched on guide rail.
In present invention preferred embodiment as shown in Figure 5, the basic arm 8 includes：Basic arm column 15, guide rail 16,
Sliding block 17, the first screw 18 and the second screw 19；Wherein, the basic arm column 15 is connected with the hydraulic device, the base
The guide rail 16 is provided in this arm column 15, the sliding block 17 is provided in the guide rail 16, the sliding block 17 is by described
Second screw 19 is connected with the guide rail 16, and the basic arm column 15 is carried out with the guide rail 16 by first screw 18
Fixed, 15 outside of basic arm column is equipped with sensor 4.First screw 18 can be specifically fixing screws.
In present invention preferred embodiment as shown in Figure 6, a joint arm 9 includes：One joint arm column 20, guide rail 16,
Sliding block 17, the first screw 18 and the second screw 19；Wherein, the joint arm column 20 is connected with 8 column of basic arm, described
The guide rail 16 is provided in one joint arm column 20, is provided with the sliding block 17 outside the guide rail 16, the sliding block 17 passes through institute
The second screw 19 is stated with the guide rail 16 to be connected, the joint arm column 20 and the guide rail 16 by first screw 18 into
Row is fixed, and 20 outside of joint arm column is equipped with sensor 4.
In present invention preferred embodiment as shown in Figure 7, two joint arm 10 includes：Two joint arm columns 21, guide rail 16,
Sliding block 17, the first screw 18 and the second screw 19；Wherein, the two joint arms column 21 is connected with the joint arm column 20, institute
It states and the guide rail 16 is provided in two joint arm columns 21, be provided with the sliding block 17 outside the guide rail 16, the sliding block 17 passes through
Second screw 19 is connected with the guide rail 16, and the two joint arms column 21 passes through first screw 18 with the guide rail 16
It is fixed, two joint arms column, 21 outside is equipped with sensor 4.
In present invention preferred embodiment as shown in Figure 8, the three joint arms 11 include：Three joint arms column 22, guide rail 16,
Sliding block 17, the first screw 18 and the second screw 19；Wherein, the three joint arms column 22 is connected with the two joint arms column 21, institute
It states and the guide rail 16 is provided in three joint arms column 22, be provided with the sliding block 17 outside the guide rail 16, the sliding block 17 passes through
Second screw 19 is connected with the guide rail 16, and the three joint arms column 22 passes through first screw 18 with the guide rail 16
It is fixed, 22 outside of three joint arms column is equipped with sensor 4.
In present invention preferred embodiment as shown in Figure 9, four joint arm 12 includes：Four joint arm columns 23, guide rail 16,
Sliding block 17, the first screw 18, the second screw 19 and rope fastening hole 24；Wherein, four joint arms column, 23 side and described three
Joint arm column 22 is connected, and four joint arms column, 23 opposite side is provided with the rope fastening hole 24, the four joint arms column 23
The guide rail 16 is inside provided with, is provided with the sliding block 17 outside the guide rail 16, the sliding block 17 passes through second screw 19
It is connected with the guide rail 16, the four joint arms column 23 is fixed with the guide rail 16 by first screw 18, described
Four joint arm columns, 23 outside is equipped with sensor 4.It should be noted that rope fastening hole 24 implements for fixing lifting rope 7
When may be set to be other forms, it is limitation to fixed lifting rope 7 that the rope fastening hole 24 in the present embodiment, which is not,.
In one preferred embodiment of the invention, the sensor includes position sensor and IGPS, i.e. position sensing
Device and IGPS are fixedly installed in simultaneously on the movable joint and the suspension hook 2 of the arm 1, therefore can be cut according to actual conditions
Emat sensor obtains the dynamic position coordinate of arm and suspension hook.It, can be accurate based on the ancillary equipment of traditional position sensor
The position that can not be inerrably observed in the air height positions, and is obtained accurately after can the data of acquisition being carried out to fusion treatment
Position.IGPS (indoor GPS) system, to big size object accurate measurement, determines the lifting in high-altitude using infrared laser
The multi-user of position multisensor measures especially suitable, wide range of measurement, and anti-interference is good, is measured without turning station, visualizes journey
Degree is high, and primary calibration is used for multiple times.But the use of IGPS also has corresponding limitation.Therefore, the present invention is based on sensors
Different application using two kinds of sensors of conventional position sensor and IGPS, can be cut automatically for different operating environments
Change station-keeping mode.
Therefore correspondingly, in one preferred embodiment of the invention, the lifting operation auxiliary system can specifically wrap
Include a basic arm position sensor or IGPS, a joint arm position sensor or IGPS, a two joint arm position sensors
Or IGPS, a three joint arms position sensor or IGPS, a four joint arm sensors or IGPS and computer console, collision inspection
Survey device.Wherein, basic arm is mounted on the fixed frame of crane, and fixed frame is mounted on the rotary disk of crane vehicle frame, basic arm
It may be rotated.
The present invention inevitably collides it is considered that in lifting operation with other objects of surrounding simultaneously, in view of
The above-described lifting operation auxiliary system for being equipped with sensor can accurately navigate to the position in object of which movement, therefore
The collision detecting device of the present invention also passes through the calculating of algorithm, detection and ambient using the dynamic position coordinate of sensor feedback
Whether body can collide, to make alarm in time.
Computer console of the present invention can specifically utilize database (SQL) technology, and above-mentioned all data are determined
Justice manipulates, control, movement locus is lifted using analogue simulation Software Create, in the virtual training applied to high risk lifting.It examines
Consider the upper air installing operation of large-sized object, such as the lifting of blade of wind-driven generator, the lifting of large-scale antenna, need operating personnel
The component that tens meters of high-altitudes are lifted in terrestrial operation is accurately docked with connecing hole.Due to the eyesight of people can not accurately see it is several
Component outside ten meters and the relative position situation between hole is connect, therefore be difficult rapidly and accurately to realize lifting operation.Similary lifting
Inevitable collision in the process, the costliness of equipment train the high of cost, thus need to carry out virtual training.
With reference to Fig. 1, Fig. 2, Fig. 3, Figure 10 to the specific work process of lifting operation auxiliary system provided by the invention
It is described in detail.Figure 10 is the algorithm signal of collision detecting device in a kind of lifting operation auxiliary system of the embodiment of the present invention
Figure, specifically includes following steps：Step 101, the geometrical model of object in scene is obtained；Step 102, object in scene is built
Level surrounds tree；Step 103, scene space is divided；Step 104, more new scene；Step 105, collision detection of high precision.Wherein walk
Rapid 101- steps 103 are initial phase, and step 104- steps 105 are the collision detection stage.It is specific as follows：
Start crane, opening control panel opens revolution free switch, switches flexible/auxiliary hoisting mechanism switching switch
To Telescopic, filling person's client unlock suspension hook, tunnel jumbo operator will using functions such as the rotating, stretch of control cabinet, raisings
Suspension hook is transported to above lifting object.The display that tunnel jumbo operator pays attention to controlling display in operation is (by sensor feedback
Relative position coordinates, carry out collision detection algorithm calculating, judge whether suspension hook and two enclosure bodies of lifting object have lap,
And then judge whether collide therebetween, carrying out the flexible of arm position, the telescopic location adjustment of suspension hook immediately).Lifting object
When fixed hanger is aligned with lift hook position, operator selects suspension hook restocking, suspension hook is made to be fixed together with lifting object, crane operation
Hand operation and control cabin control stick, lifting object is lifted, while lifting object is placed into corresponding position, is also noted in placement process
The data shown on meaning display, collide to avoid with surrounding objects.After placement, hanger is withdrawn in suspension hook unlock, and locking is hung
Hook completes hoisting process.Other hoisting objects are lifted by above-mentioned steps, the data in complete hoisting process are remembered using database
Record, and the movement locus in hoisting process is calculated, it applies it in the training of the virtual lifting operation of high risk.
It should be noted that lifting operation auxiliary system provided in this embodiment employs a kind of auxiliary square of lifting operation
Method improves the efficiency of lifting operation, improves the safety of lifting operation, so as to reduce the risk of lifting operation.Wherein, it is a kind of
The householder method of lifting operation, including：Sensor obtains the dynamic position coordinate of arm and suspension hook, and the dynamic position is sat
Mark is sent to the computer console and the collision detecting device；The computer console receives the sensor and sends
Dynamic position coordinate, and according to the sensor send dynamic position Coordinate generation lifting operation track；The collision inspection
It surveys device and receives the dynamic position coordinate that the sensor is sent, and judge according to the dynamic position coordinate that the sensor is sent
Whether suspension hook collides with lifting object.For the householder method of the lifting operation, it may refer to front and system assisted to lifting operation
The associated description of system, this will not be repeated here for the present embodiment.
For aforementioned each method embodiment, in order to be briefly described, therefore it is all expressed as to a series of combination of actions, but
It is that those skilled in the art should know, the present invention is not limited by described sequence of movement, because according to the present invention, certain
A little steps may be used other sequences or be carried out at the same time.Secondly, those skilled in the art should also know, be retouched in specification
The embodiment stated belongs to preferred embodiment, and involved action and module are not necessarily essential to the invention.
Each embodiment in this specification is described by the way of progressive, the highlights of each of the examples are with
The difference of other embodiment, just to refer each other for identical similar part between each embodiment.
The present invention can be described in the general context of computer executable instructions, such as program
Module.Usually, program module includes routines performing specific tasks or implementing specific abstract data types, program, object, group
Part, data structure etc..The present invention can also be put into practice in a distributed computing environment, in these distributed computing environment, by
Task is performed and connected remote processing devices by communication network.In a distributed computing environment, program module can be with
In the local and remote computer storage media including storage device.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, commodity or equipment including a series of elements not only include that
A little elements, but also including other elements that are not explicitly listed or further include for this process, method, commodity or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except also there are other identical elements in the process including the element, method, commodity or equipment.
Above to a kind of lifting operation auxiliary system provided by the present invention, it is described in detail, it is used herein
Specific case is expounded the principle of the present invention and embodiment, and the explanation of above example is only intended to help to understand this
The method and its core concept of invention；Meanwhile for those of ordinary skill in the art, thought according to the present invention, specific
There will be changes in embodiment and application range, in conclusion the content of the present specification should not be construed as to the present invention's
Limitation.
Claims (7)
1. a kind of lifting operation auxiliary system, which is characterized in that including：It arm, suspension hook, sensor, computer console and touches
Hit detection device；The sensor is simultaneously including traditional position sensor and IGPS；
The arm includes：Basic arm, a joint arm, two joint arms, three joint arms and four joint arms；Wherein, basic arm one end installation
On the fixed frame of crane, the fixed frame is mounted on the rotary disk of crane vehicle frame；One joint arm passes through guide rail and sliding block
It stretches on the basic arm；Two joint arm is stretched by guide rail and sliding block in a joint arm；The three joint arms pass through
Guide rail and sliding block stretch in two joint arm；Four joint arm is stretched by guide rail and sliding block in the three joint arms, and institute
Four joint arms are stated to connect with the suspension hook by lifting rope；
Wherein, it is installed with sensor respectively, and can switch according to actual conditions on the movable joint of arm and the suspension hook
The dynamic position coordinate is sent to the meter by sensor for obtaining the dynamic position coordinate of the arm and suspension hook
Calculation machine console and the collision detecting device；The computer console is connect with the sensor wireless, computer control
Platform utilizes the movement locus of arm during data-base recording lifting operation；The collision detecting device and the sensor wireless
Connection, the dynamic position coordinate for being sent according to the sensor judge whether suspension hook collides with lifting object；
The lifting operation auxiliary system can be seen hoisting personnel and indicate the relative position and distance of docking site,
Operating personnel is guided to complete the operation of high-altitude Large-scale Hoisting, and track can be recycled after the completion of lifting operation, so as to also can
Realize the virtual lifting training and assessment evaluation to operating personnel.
2. lifting operation auxiliary system according to claim 1, it is characterised in that：The basic arm and the fixed frame it
Between hydraulic device is installed, described hydraulic device one end is mounted on by screw on the fixed frame, and the hydraulic device is another
End is connected with the basic arm, and a joint arm, two joint arms, three joint arms and four joint arms is pushed to stretch in respective track；It is described
The basic arm other end is fixed on by supporting rack on the fixed frame.
3. lifting operation auxiliary system according to claim 2, which is characterized in that the basic arm includes：Basic arm is stood
Column, guide rail, sliding block, the first screw and the second screw；Wherein, the basic arm column is connected with the hydraulic device, the base
The guide rail is provided in this arm column, is provided with the sliding block in the guide rail, the sliding block by second screw with
The guide rail is connected, and the basic arm column is fixed with the guide rail by first screw, the basic arm column
Outside is equipped with sensor.
4. lifting operation auxiliary system according to claim 3 a, which is characterized in that joint arm includes：One joint arm is stood
Column, guide rail, sliding block, the first screw and the second screw；Wherein, the joint arm column is connected with the basic arm column, described
The guide rail is provided in one joint arm column, is provided with the sliding block outside the guide rail, the sliding block passes through second screw
It is connected with the guide rail, the joint arm column is fixed with the guide rail by first screw, and a joint arm is stood
Sensor is installed on the outside of column.
5. lifting operation auxiliary system according to claim 4, which is characterized in that two joint arm includes：Two joint arms are stood
Column, guide rail, sliding block, the first screw and the second screw；Wherein, the two joint arms column is connected with the joint arm column, described
The guide rail is provided in two joint arm columns, is provided with the sliding block outside the guide rail, the sliding block passes through second screw
It is connected with the guide rail, the two joint arms column is fixed with the guide rail by first screw, and two joint arm is stood
Sensor is installed on the outside of column.
6. lifting operation auxiliary system according to claim 5, which is characterized in that the three joint arms include：Three joint arms are stood
Column, guide rail, sliding block, the first screw and the second screw；Wherein, the three joint arms column is connected with the two joint arms column, described
The guide rail is provided in three joint arms column, is provided with the sliding block outside the guide rail, the sliding block passes through second screw
It is connected with the guide rail, the three joint arms column is fixed with the guide rail by first screw, and the three joint arms are stood
Sensor is installed on the outside of column.
7. lifting operation auxiliary system according to claim 6, which is characterized in that four joint arm includes：Four joint arms are stood
Column, guide rail, sliding block, the first screw, the second screw and rope fastening hole；Wherein, the four joint arms column side and described three sections
Arm column is connected, and the four joint arms column opposite side is provided with the rope fastening hole, is set in the four joint arms column
Guide rail to be stated, the sliding block is provided with outside the guide rail, the sliding block is connected by second screw with the guide rail, and described four
Joint arm column is fixed with the guide rail by first screw, and sensor is equipped on the outside of the four joint arms column.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510309998.8A CN104891357B (en) | 2015-06-08 | 2015-06-08 | lifting operation auxiliary system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510309998.8A CN104891357B (en) | 2015-06-08 | 2015-06-08 | lifting operation auxiliary system |
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| CN104891357A CN104891357A (en) | 2015-09-09 |
| CN104891357B true CN104891357B (en) | 2018-07-10 |
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| CN201510309998.8A Expired - Fee Related CN104891357B (en) | 2015-06-08 | 2015-06-08 | lifting operation auxiliary system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113896105A (en) * | 2021-05-27 | 2022-01-07 | 徐州重型机械有限公司 | Crane state monitoring system |
| CN113247775A (en) * | 2021-05-28 | 2021-08-13 | 徐州重型机械有限公司 | Crane and control method of crane |
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| CN104891357A (en) | 2015-09-09 |
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