CN106185629A - A kind of caterpillar crane hook height detecting system and its implementation - Google Patents
A kind of caterpillar crane hook height detecting system and its implementation Download PDFInfo
- Publication number
- CN106185629A CN106185629A CN201610782994.6A CN201610782994A CN106185629A CN 106185629 A CN106185629 A CN 106185629A CN 201610782994 A CN201610782994 A CN 201610782994A CN 106185629 A CN106185629 A CN 106185629A
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- Prior art keywords
- encoder
- elevator
- hook
- auxiliary
- principal arm
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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
- 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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/084—Protection measures
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of caterpillar crane hook height detecting system and its implementation, it is characterized in that, including main control module, angular transducer, encoder, alarm device and display module；Described angular transducer is separately mounted on principal arm and auxiliary, is respectively used to detect principal arm and the inclination angle of auxiliary and be sent in main control module；Described alarm device is connected with main control module；Described encoder and main control module, display module are by CAN communication；Described encoder includes the main encoder being arranged on the central shaft of master winch side and the secondary encoder being arranged on the central shaft of secondary elevator side.The beneficial effect that the present invention is reached: the present invention can show suspension hook terrain clearance in real time, and display precision is higher；Three circle protectors can be substituted, it is achieved three circle warning functions simultaneously；Monitor elevator in real time by encoder during native system concrete operations to rotate, reduce external interference, and have only to when rope woolding demarcate once, convenient and simple.
Description
Technical field
The present invention relates to a kind of caterpillar crane hook height detecting system and its implementation, belong to height detection technique
Field.
Background technology
The most traditional crawler crane does not has suspension hook terrain clearance to show or show inaccurate, and suspension hook terrain clearance is main
Estimated by rule of thumb by operator, but for some special operation conditions, operator cannot see lift hook position, not know
Height under hook.
In prior art, crawler crane shows suspension hook terrain clearance the most in real time.There is only a few crawler crane
By installing other detection equipment additional, realize detecting height under hook.Automatically control object and the system of ground distance and control thereof
Method, it, by having the rope stretching length-measuring appliance of Adding Direction-Judging Function, is placed in man machine interface and the man machine interface of driver's cabin
The Programmable Logic Controller of coupling and angular transducer, the rope stretching length-measuring appliance with Adding Direction-Judging Function passes through CAN
Being connected with Programmable Logic Controller, and pass one-way transmission signal to it, Programmable Logic Controller is unidirectional to man machine interface by CAN
Transmission signal；Angular transducer is connected with Programmable Logic Controller.
But this kind of method has some limitations: first, before the lifting of this system each weight, zero-bit mark will be carried out
Fixed, because when steel wire rope looseness, this detection device can not accurately detect Steel wire rope discharge amount.Secondly, in this system, hard rubber
Rubber tire rolls along with sliding up and down of steel wire rope, the rotation rolling drive encoder of rubber wheel.But reality is in order to protect
Protecting steel wire rope, the most thereon coating lubricating oil fat, this results in the slip between steel wire rope and hard rubber wheel, it is difficult to ensure that
Accurately detect the rope stretching amount of steel wire rope.
Summary of the invention
For solving the deficiencies in the prior art, it is an object of the invention to provide a kind of caterpillar crane hook height detection system
System and its implementation, be effectively improved the measurement to height under hook, solves vision to be relied in most cases to estimate at present
The problem calculated.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that:
A kind of caterpillar crane hook height detecting system, is characterized in that, including main control module, angular transducer, coding
Device, alarm device and display module；Described angular transducer is separately mounted on principal arm and auxiliary, be respectively used to detect principal arm and
The inclination angle of auxiliary is also sent in main control module；Described alarm device is connected with main control module, when master winch and secondary elevator
Number of turns when being not more than three circles, alarm device is reported to the police；Described encoder and main control module, display module pass through CAN
Communication, encoder is for the rotation number of turns of real time record correspondence elevator；Described encoder includes being arranged on center, master winch side
Main encoder on axle and the secondary encoder being arranged on the central shaft of secondary elevator side.
Further, described main encoder and secondary encoder are each via shaft coupling, encoder installing plate and corresponding volume
Raise connection.
Further, it is provided with encoder protective cover outside described main encoder and secondary encoder.
A kind of implementation method based on above-described caterpillar crane hook height detecting system, is characterized in that, including
Following steps:
1) when elevator rope woolding, when steel wire rope has just exposed wire rope handling mouth, start to demarcate encoder, including encoder side to,
Individual pen resolution, total resolution and preset currency.
2) operation elevator, elevator rotates and drives encoder axis of rotation, the number of turns turned over by encoder record elevator, and
Calculate master winch and the rope capacity of secondary each layer of elevator；
3) according to step 2) result combine current operating mode, calculate in real time main hook terrain clearance and auxiliary hook terrain clearance；
4) according to step 3) formula calculates master winch and the main hook terrain clearance corresponding when enclosing of secondary elevator and auxiliary hook less than three
Terrain clearance, sets the trigger value of alarm device when master winch and secondary elevator are less than three circles according to this value, and master control set exports
Alarm signal, triggers alarm work, falls direction action with limit elevator.
Further, described step 2) in assume master file encoder current record rotating cycle value be Nm, secondary volume coding
The rotating cycle value of device current record is Nf, the full elevator one layer coder rotating cycle of wirerope-winding is Nd, steel wire rope radius is
r；
The 1st layer of rope capacity of master winch is LM1=2NmπR1；2nd layer of rope capacity is LM2=2 (Nm-Nd)πR2, its
Middle R2=R1+1.732r；N-th layer rope capacity is LMn=2 (Nm-(n-1)Nd)πRn, wherein Rn=R1+1.732(n-1)r；Secondary
The 1st layer of rope capacity of elevator is LF1=2NfπR1；2nd layer of rope capacity is LF2=2 (Nf-Nd)πR2, wherein R2=R1+
1.732r；N-th layer rope capacity is LFn=2 (Nf-(n-1)Nd)πRn, wherein Rn=R1+ 1.732 (n-1) r, wherein, R1Table
Show master winch height R plus ground floor steel wire rope radius r distance and.
Further, described step 3) in suppose that master winch is corresponding with main hook, pair elevator is corresponding with auxiliary hook, the multiplying power of main hook
For Reev1, the multiplying power of auxiliary hook is Reev2, and master file steel wire rope total length is LT1, secondary coil cord total length is LT2, main hook pulley
It is H to the distance at the bottom of hook3, auxiliary hook pulley to the distance at the bottom of hook is H5, principal arm hinge overhead height is Ho；
After selected operating mode, master file is to distance L of principal arm leading block1, pair is rolled onto principal arm leading block distance L2, principal arm is long
Degree Lm, principal arm leading block is to principal arm head pulley distance L3, principal arm leading block is L to auxiliary leading block distance4, auxiliary
Leading block is L to auxiliary head pulley distance5, a length of L of auxiliaryf；Set vertical to principal arm head pulley center of principal arm head
Distance is H1；The inclination angle of principal arm is α, and the inclination angle of auxiliary is β；
Then H2={ LT1-(LM1+LM2+…+LMn)-L1-L3}/Reev1；
Main hook terrain clearance Hm=Lm·sinα+Ho-H1-H2-H3；
H4={ LT2-(LF1+LF2+…+LFn)-L2-L4-L5}/Reev2；
Auxiliary hook terrain clearance Hf=Lm·sinα+Lf·sinβ+Ho-H4-H5。
The beneficial effect that the present invention is reached: the present invention can show suspension hook terrain clearance in real time, and display precision is higher；
Three circle protectors can be substituted, it is achieved three circle warning functions simultaneously；Volume is monitored in real time by encoder during native system concrete operations
Raise rotation, reduce external interference, and have only to when rope woolding demarcate once, convenient and simple.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of native system；
Fig. 2 is elevator cross-sectional view；
Fig. 3 is jib simplified model schematic diagram.
The implication of reference in figure:
1-master winch, 2-pair elevator, 3-principal arm leading block, 4-principal arm head pulley, 5-main hook pulley, 6-auxiliary guides
Pulley, 7-auxiliary head pulley, 8-auxiliary hook pulley.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating the present invention
Technical scheme, and can not limit the scope of the invention with this.
It is an object of the invention to realize caterpillar crane hook height detection, in real time display suspension hook terrain clearance, and can replace
Enclose protector for elevator three and realize three circle warning functions.
Native system is by installing encoder additional on major and minor elevator, setting angle sensor on major and minor arm, coding
Angular displacement and the angle value of jib change that device rotates are transported to controller, calculate suspension hook terrain clearance by control algolithm
Position is enclosed with elevator three.
Specifically include main control module, angular transducer, encoder, alarm device and display module, wherein, display module
Can be arranged in the man machine interface in driver's cabin, main control module is arranged in Electric Appliance Cabinet.
Angular transducer is for detecting principal arm and the inclination angle of auxiliary and being sent in main control module.When master winch 1 and pair
When the number of turns of elevator 2 is not more than three circles, alarm device is reported to the police.
In the present invention, so-called encoder is a kind of device angular displacement or straight-line displacement being converted into the signal of telecommunication.
Native system, when carrying out concrete operation, comprises the steps:
1) encoder is arranged on the central shaft of major and minor elevator side, by shaft coupling and encoder installing plate and elevator
Connecting, outside installs encoder protective cover additional.When elevator rope woolding, when steel wire rope has just exposed wire rope handling mouth, start to demarcate encoder,
Including encoder side to, individual pen resolution, total resolution and preset currency.
2) operation elevator, elevator rotates and drives encoder axis of rotation, the number of turns turned over by encoder record elevator, and
Calculate master winch 1 and the rope capacity of secondary each layer of elevator 2.
As shown in Figure 2: the rotating cycle value assuming master file encoder current record is Nm, the encoder current record of secondary volume
Rotating cycle value is Nf, the full elevator one layer coder rotating cycle of wirerope-winding is Nd, steel wire rope radius is r；
The 1st layer of rope capacity of master winch 1 is LM1=2NmπR1；2nd layer of rope capacity is LM2=2 (Nm-Nd)πR2,
Wherein R2=R1+1.732r；N-th layer rope capacity is LMn=2 (Nm-(n-1)Nd)πRn, wherein Rn=R1+1.732(n-1)r；
Secondary the 1st layer of rope capacity of elevator 2 is LF1=2NfπR1；2nd layer of rope capacity is LF2=2 (Nf-Nd)πR2, wherein R2=R1
+1.732r；N-th layer rope capacity is LFn=2 (Nf-(n-1)Nd)πRn, wherein Rn=R1+1.732(n-1)r。
3) according to step 2) result combine current operating mode, calculate in real time main hook terrain clearance and auxiliary hook terrain clearance.
For convenience of description, such as Fig. 3.Assuming that master winch 1 is corresponding with main hook, secondary elevator 2 is corresponding with auxiliary hook, the multiplying power of main hook
For Reev1, the multiplying power of auxiliary hook is Reev2, and master file steel wire rope total length is LT1, secondary coil cord total length is LT2, main hook pulley
5 is H to the distance at the bottom of hook3, auxiliary hook pulley 8 to the distance at the bottom of hook is H5, principal arm hinge overhead height is Ho。
After selected operating mode, master file is to distance L of principal arm leading block 31, pair is rolled onto principal arm leading block 3 apart from L2, principal arm
Length Lm, principal arm leading block 3 to principal arm head pulley 4 is apart from L3, principal arm leading block 3 to auxiliary leading block 6 apart from for
L4, auxiliary leading block 6 to auxiliary head pulley 7 is apart from for L5, a length of L of auxiliaryf；Set principal arm head to principal arm head pulley 4
The vertical dimension at center is H1；
Then H2={ LT1-(LM1+LM2+…+LMn)-L1-L3}/Reev1；
Main hook terrain clearance Hm=Lm·sinα+Ho-H1-H2-H3；
H4={ LT2-(LF1+LF2+…+LFn)-L2-L4-L5}/Reev2；
Auxiliary hook terrain clearance Hf=Lm·sinα+Lf·sinβ+Ho-H4-H5。
4) according to step 3) formula calculates the master winch 1 and main hook terrain clearance corresponding when enclosing of secondary elevator 2 and pair less than three
Hook terrain clearance, sets the trigger value of alarm device when master winch 1 and secondary elevator 2 are less than three circles according to this value, master control set
Output alarm signal, triggers alarm work, falls direction action with limit elevator.
Encoder in the present invention can also replace by installing speed probe on motor.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and deformation, these improve and deformation
Also should be regarded as protection scope of the present invention.
Claims (6)
1. a caterpillar crane hook height detecting system, is characterized in that, including main control module, angular transducer, encoder,
Alarm device and display module；Described angular transducer is separately mounted on principal arm and auxiliary, is respectively used to detect principal arm and pair
The inclination angle of arm is also sent in main control module；Described alarm device is connected with main control module, when master winch and secondary elevator
When the number of turns is not more than three circles, alarm device is reported to the police；
Described encoder and main control module, display module are by CAN communication, and encoder is for real time record correspondence elevator
Rotate the number of turns；
Described encoder includes the main encoder being arranged on the central shaft of master winch side and is arranged on secondary elevator side central shaft
On secondary encoder.
A kind of caterpillar crane hook height detecting system the most according to claim 1, is characterized in that, described main encoder
Connect with corresponding elevator each via shaft coupling, encoder installing plate with secondary encoder.
A kind of caterpillar crane hook height detecting system the most according to claim 1, is characterized in that, described main encoder
It is provided with encoder protective cover with outside secondary encoder.
4. an implementation method based on the caterpillar crane hook height detecting system described in claim 1-3 any one,
It is characterized in that, comprise the steps:
1) when elevator rope woolding, when steel wire rope has just exposed wire rope handling mouth, start to demarcate encoder, including encoder side to, individual pen
Resolution, total resolution and preset currency.
2) operation elevator, elevator is rotated and drives encoder axis of rotation, the number of turns turned over by encoder record elevator, and calculates
Master winch and the rope capacity of secondary each layer of elevator；
3) according to step 2) result combine current operating mode, calculate in real time main hook terrain clearance and auxiliary hook terrain clearance；
4) according to step 3) formula calculates the master winch main hook terrain clearance corresponding less than during three circles with secondary elevator and auxiliary hook is liftoff
Highly, setting the trigger value of alarm device when master winch and secondary elevator are less than three circles according to this value, master control set output is reported to the police
Signal, triggers alarm work, falls direction action with limit elevator.
The implementation method of a kind of caterpillar crane hook height detecting system the most according to claim 4, is characterized in that, institute
State step 2) in assume master file encoder current record rotating cycle value be Nm, the rotating cycle of secondary volume encoder current record
Value is Nf, the full elevator one layer coder rotating cycle of wirerope-winding is Nd, steel wire rope radius is r；
The 1st layer of rope capacity of master winch is LM1=2NmπR1；2nd layer of rope capacity is LM2=2 (Nm-Nd)πR2, wherein R2
=R1+1.732r；N-th layer rope capacity is LMn=2 (Nm-(n-1)Nd)πRn, wherein Rn=R1+1.732(n-1)r；Secondary volume
Raising the 1st layer of rope capacity is LF1=2NfπR1；2nd layer of rope capacity is LF2=2 (Nf-Nd)πR2, wherein R2=R1+
1.732r；N-th layer rope capacity is LFn=2 (Nf-(n-1)Nd)πRn, wherein Rn=R1+ 1.732 (n-1) r, wherein, R1Table
Show master winch height plus ground floor steel wire rope radius distance and.
The implementation method of a kind of caterpillar crane hook height detecting system the most according to claim 4, is characterized in that, institute
State step 3) in suppose master winch corresponding with main hook, pair elevator corresponding with auxiliary hook, the multiplying power of main hook is Reev1, the multiplying power of auxiliary hook
For Reev2, master file steel wire rope total length is LT1, secondary coil cord total length is LT2, main hook pulley to the distance at the bottom of hook is H3,
Auxiliary hook pulley is H to the distance at the bottom of hook5, principal arm hinge overhead height is Ho；
After selected operating mode, master file is to distance L of principal arm leading block1, pair is rolled onto principal arm leading block distance L2, principal arm length Lm,
Principal arm leading block is to principal arm head pulley distance L3, principal arm leading block is L to auxiliary leading block distance4, auxiliary guides sliding
Taking turns to auxiliary head pulley distance is L5, a length of L of auxiliaryf；Set principal arm head to principal arm head pulley center vertical dimension as
H1；The inclination angle of principal arm is α, and the inclination angle of auxiliary is β；
Then H2={ LT1-(LM1+LM2+...+LMn)-L1-L3}/Reev1；
Main hook terrain clearance Hm=Lm·sinα+Ho-H1-H2-H3；
H4={ LT2-(LF1+LF2+...+LFn)-L2-L4-L5}/Reev2；
Auxiliary hook terrain clearance Hf=Lm·sinα+Lf·sinβ+Ho-H4-H5。
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|---|---|---|---|
| CN201610782994.6A CN106185629B (en) | 2016-08-31 | 2016-08-31 | A kind of caterpillar crane hook height detecting system and its implementation |
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Cited By (3)
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| CN109437019A (en) * | 2018-12-10 | 2019-03-08 | 中联重科股份有限公司 | Crane hook height control method, device and crane |
| CN113382947A (en) * | 2019-02-14 | 2021-09-10 | 株式会社多田野 | Off-ground determination device, off-ground control device, mobile crane, and off-ground determination method |
| CN118004945A (en) * | 2024-04-10 | 2024-05-10 | 徐州威卡电子控制技术有限公司 | Method for detecting arm support state of self-walking aerial working vehicle |
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| CN203602279U (en) * | 2013-12-13 | 2014-05-21 | 中联重科股份有限公司 | System for detecting pendency height of hook and crane |
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| CN118004945A (en) * | 2024-04-10 | 2024-05-10 | 徐州威卡电子控制技术有限公司 | Method for detecting arm support state of self-walking aerial working vehicle |
| CN118004945B (en) * | 2024-04-10 | 2024-06-11 | 徐州威卡电子控制技术有限公司 | Method for detecting arm support state of self-walking aerial working vehicle |
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| Publication number | Publication date |
|---|---|
| CN106185629B (en) | 2017-11-28 |
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