CN106744390A - A kind of tower crane automatic-balancing controller - Google Patents
A kind of tower crane automatic-balancing controller Download PDFInfo
- Publication number
- CN106744390A CN106744390A CN201710112226.4A CN201710112226A CN106744390A CN 106744390 A CN106744390 A CN 106744390A CN 201710112226 A CN201710112226 A CN 201710112226A CN 106744390 A CN106744390 A CN 106744390A
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- CN
- China
- Prior art keywords
- tower crane
- tower
- control system
- plummet
- photoelectric detection
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B66C23/72—Counterweights or supports for balancing lifting couples
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a kind of tower crane automatic-balancing controller, including electric control system, counterweight balancing mechanism, photoelectric detection system and the plummet mechanism on tower body；Tower body is provided with the plummet mechanism with rotating shaft with tower crane support, and plummet institution freedom side side is provided with photoelectric detection system, and photoelectric detection system is connected with electric control system；The counterweight balancing mechanism is slidably mounted on tower crane arm, and by step motor control, it is moved, and stepper motor is connected with electric control system；Deflection angle between the photoelectric detection system detection tower body center reference line and plummet mechanism gravity reference line.The present invention can be according to tower body center reference line and the angle change of vertical mechanism gravity reference line, counterweight is driven along rack guide rail horizontal movement by electric control system, carry out the dynamic equilibrium at work of automatic, safe and effective holding tower crane, it is ensured that the security in tower crane use.
Description
Technical field
The present invention relates to construction engineering technical field, more particularly, to a kind of tower crane automatic-balancing controller.
Background technology
It is constantly soaring with modern architecture height, building materials are lifted by crane using tower crane at the construction field (site), the frequency of goods is got over
Come higher.Thing followed problem is exactly tower crane caused by the reasons such as overweight, pull and hang sideling, the too fast, maloperation of lifting speed
Tower crane collapse accident is more and more.In the course of the work, due to overweight, pull and hang sideling, lifting speed is too fast, miss behaviour for general tower crane
It is to ultimately result in the basic reason that tower crane collapses that a variety of causes such as work cause tower body knockdown.Although these violation operations are in tower
All forbid in the working specification for hanging, but in practice but because without the corresponding measure for forcing Constraint Violation to operate
Remain incessant after repeated prohibition.Therefore, the carrying out to tower crane working condition detect, tower crane is carried out automatically by tower crane automatic balance control system
Adjustment, the Constraint Violation operation in terms of operational control is that the tower body for ensureing tower crane remains vertical state in the course of the work
（Poised state）, improve the effective ways of safety of tower crane performance.Being improved by system can greatly improve tower crane normal work
Safety coefficient, can also prevent and reduce the generation of safety of tower crane accident.
The content of the invention
In order to overcome above-mentioned existing technological deficiency, it is an object of the invention to provide one kind detection tower body center reference
The angular relationship of line and vertical mechanism gravity reference line, tower crane is automatically controlled with focusing on tower crane arm by electric control system
Position so that the arm moment keep balance tower crane control device.
In order to achieve the above object, the present invention is achieved through the following technical solutions：
The technical program is a kind of tower crane automatic-balancing controller, including electric control system, counterweight balancing mechanism, light electric-examination
Survey device and the plummet mechanism on tower body；Tower body is provided with the plummet mechanism with rotating shaft, plummet mechanism with tower crane support
Free end side is provided with photoelectric detection system, and photoelectric detection system is connected with electric control system；The counterweight balancing mechanism is slided
Dynamic to be arranged on tower crane arm, by step motor control, it is moved, and stepper motor is connected with electric control system；The photoelectricity
Detection means detects the deflection angle between tower body center reference line and plummet mechanism gravity reference line.
Vertical mechanism is installed on tower body, by the angle for detecting tower body center reference line and vertical mechanism gravity reference line
Relation is carried out automatic control tower and is hung with the position focused on tower crane arm, so that the moment keeps arm balance；Tower crane is solved in work
During, because the reasons such as overweight, pull and hang sideling, the too fast, maloperation of lifting speed cause tower body inclining even knockdown most
The problem for causing tower crane to collapse eventually；Some risky operation of tower crane driver are limited by automatic-balancing controller simultaneously to avoid
The generation of security incident.The photoelectric detection system in automatic-balancing controller, by tower body center reference line and vertical mechanism weight
The angle change relation of power reference line is converted to the change of photosignal, to pass through electric-controlled using the photosignal of this change
System processed carries out logic and automatically controls.
As optimization, self-locking stepper motor is installed in tower crane counterweight, arm Balance weight end installs rack guide rail, and tower crane is with focusing on
Under the control of control system, arm is set to remain poised state along rack guide rail adjustment position.
Used as optimization, the photoelectric detection system is infrared light transducer[sensor, and infrared photoelectric sensor is provided with 3 points, respectively
Effect point and left and right monitoring point.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention can be according to tower body center reference line and vertical machine
The angle change of structure gravity reference line, drives counterweight in certain scope along rack guide rail level by electric control system
Motion, carrys out the dynamic equilibrium at work of automatic, safe and effective holding tower crane, and can automatically be adjusted by lever principle
Save the lift heavy scope of tower crane and without reducing or increasing counterweight, the safety of equipment can be ensured, can also carry to a certain extent
The safe lifting capacity of tower crane high.The present invention is replaced manually once in a while using infrared light power detection circuit and using machine real-time monitoring
Interval monitoring, it is to avoid around tower crane strong-electromagnetic field interference and personal monitoring in erroneous judgement or misjudgement cause the system failure or peace
Full accident, so as to greatly improve the stability and security reliability of tower crane work, reduces the incidence of security incident.Can improve
The competitiveness of tower crane manufacturing enterprise, can also reduce the maintenance cost that tower crane uses unit.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is the tower crane safety monitoring system structural representation of plummet mechanism and photoelectric detection system composition in the present invention.
Fig. 2 is the structural representation of photoelectric detection system in the present invention.
Fig. 3 is micro-angular displacement method method for transformation schematic diagram in the present invention.
Fig. 4 is monitoring point infrared circuit and checkpoint infrared circuit in mid-infrared light power detection circuit of the present invention
Electrical schematics.
Marked in figure：Tower crane support 1, plummet mechanism 2, support shaft 3, effect point infrared sensor 4, left infrared sensor 5,
Right infrared sensor 6 and bearing 7.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment 1, as shown in Figures 1 and 2, the present invention is a kind of tower crane automatic-balancing controller, including controls system
System, counterweight balancing mechanism, photoelectric detection system and the plummet mechanism on tower body；Tower body is provided with same with tower crane support 1
The plummet mechanism 2 of rotating shaft, the free end side of plummet mechanism 2 is provided with photoelectric detection system, photoelectric detection system and electrical control system
System connection；The counterweight balancing mechanism is slidably mounted on tower crane arm, by step motor control its move, stepper motor with
Electric control system is connected；Between the photoelectric detection system detection tower body center reference line and the gravity reference line of plummet mechanism 2
Deflection angle.
Principle of the invention：As shown in Figure 3, original automatic balance control system it is desirable that incline after tower arm（CD）
And horizontal direction（AB）Horizontal sextant angle ∠ AOC（θ1）Size matches somebody with somebody the horizontal level for focusing on Balance weight end to automatically control, but should
Horizontal sextant angle is difficult to detect, therefore the present invention is converted to the detection of horizontal direction micro-angular displacement to vertical direction using principle is illustrated
Micro-angular displacement ∠ EOF（θ2）Detection.In method shown in Fig. 3, as long as ensureing tower body（OE）And tower arm（AB）All the time it is vertical, with regard to energy
Ensure that level inclination ∠ AOC and vertical inclination angle ∠ EOF are equal.It is consistent with vertical change of pitch angle this addresses the problem level inclination
Sex chromosome mosaicism.
As shown in Figure 1 and Figure 3, the tower body center of the center line of vertical mechanism 2 that is, gravity reference line and tower crane support 1
Reference line, coordinate left infrared sensor 5 or right infrared sensor 6 to the distance between the center line of support shaft 3 R be constitute it is micro-
Angular displacement mechan-amplifier mechanism.Using the conversion relation θ=L/R between angle and arc length（L is arc length change to be detected in formula
Amount）, you can reach by detecting the significant change of arc length L come the purpose of indirect detection angle, θ minor variations.In order to avoid electric
Control system frequently sends control instruction due to small disturbance, actual not need the change of accurate detection corner.
Before tower crane support 1 is installed, first adjusts tower crane and balanced to zero load, the bottom surface supported using horizon rule correction tower crane
Position, makes its holding level, can so ensure the vertical mechanism 2 free to rotate in tower crane support in Action of Gravity Field
Vertical state is in down, also it is ensured that the gravity reference line of vertical mechanism and the tower body center reference line of tower crane support overlap
（Reach the balance detection primary condition of electric control system）.
Shown in Fig. 2 and Fig. 4, each infrared sensor sends infrared light always, can if having infrared light reflection to return
Detected portion go-on-go is measured, and the level Rx after now the final output of infrared sensor is amplified through two-stage is to be changed into from high level 1
Low level 0.As long as the poised state of the tower body of tower crane does not occur too big change, the output state of three groups of infrared tubes would not
Change.Three infrared detection sensors detect output level state change, react tower body changes in balance.It is right to be transformed into
3 infrared detection device output level state changes have detected.With reference to Fig. 3, different level value combinations can be obtained and represented
Tower body working condition.As shown in Figure 2, electrical control logic judgment table：
By judging whether left monitoring point 5, right monitoring point 6 and the infrared detection device of effect point 4 change detection signal, electrical control
System can be judged according to electrical control logic judgment table tower body whether run-off the straight and inclined degree of danger, and then make
The dangerous operation for further deteriorating of limitation or pressure automatically control operation to mitigate degree of danger.If tower body center line and
Mechanical vertical mechanism center line is consistent or consistent degree is higher（Allowing in angular range）, electric control system keep it is standby
State not output control signal, the intervention that tower crane driver will be not felt by any automatic balance control system is present；If once
Tower body center line and mechanical vertical mechanism center line are detected beyond safe angular range, control system then can be according to detecting
Photosignal changes the output for carrying out control system, electric control system control stepper motor, counterweight balancing mechanism motion, with galassing
Weighing apparatus mechanism kinematic makes tower arm reach poised state again；If detecting tower body center line and mechanical vertical mechanism centerlines
Seriously exceed safe range, then electric control system can send the instruction for returning to tower body to lifting end motor, and force end
Risky operation during only lifting by crane, it is to avoid the generation of security incident.
Embodiment 2, does further optimization design on the basis of embodiment 1 to counterweight balancing mechanism, pacifies in tower crane counterweight
Dress self-locking stepper motor, arm Balance weight end installs rack guide rail, and tower crane counterweight under control of the control system, is adjusted along rack guide rail
Whole position makes arm remain poised state, and tower crane makes arm all the time in poised state, improves with slip on arm is focused on
Tower crane overall security.
Embodiment 3, arrangement and selection on the basis of embodiment 1 to photoelectric detection system optimize design, described
Photoelectric detection system is infrared light transducer[sensor, and infrared photoelectric sensor is provided with, respectively effect point 4, left monitoring point 5 and the right side at 3 points
Monitoring point 6.3 points of detections, improve detection contrast, the precision of lifting electric control system output signal control.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (3)
1. a kind of tower crane automatic-balancing controller, it is characterised in that：Including electric control system, counterweight balancing mechanism, photoelectricity
Detection means and the plummet mechanism on tower body；Tower body is provided with and is supported with tower crane（1）With the plummet mechanism of rotating shaft（2）,
Plummet mechanism（2）Free end side is provided with photoelectric detection system, and photoelectric detection system is connected with electric control system；The counterweight
Balanced controls are slidably mounted on tower crane arm, and by step motor control, it is moved, and stepper motor connects with electric control system
Connect；The photoelectric detection system detects tower body center reference line and plummet mechanism（2）Deflection angle between gravity reference line.
2. a kind of tower crane automatic-balancing controller according to claim 1, it is characterised in that：Installed certainly in tower crane counterweight
Lock-step stepper motor, arm Balance weight end installs rack guide rail, and tower crane counterweight under control of the control system, position is adjusted along rack guide rail
Putting makes arm remain poised state.
3. a kind of tower crane automatic-balancing controller according to claim 1, it is characterised in that：The photoelectric detection system
It is infrared light transducer[sensor, infrared photoelectric sensor is provided with, respectively effect point and left and right monitoring point at 3 points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710112226.4A CN106744390A (en) | 2017-02-28 | 2017-02-28 | A kind of tower crane automatic-balancing controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710112226.4A CN106744390A (en) | 2017-02-28 | 2017-02-28 | A kind of tower crane automatic-balancing controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106744390A true CN106744390A (en) | 2017-05-31 |
Family
ID=58959708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710112226.4A Pending CN106744390A (en) | 2017-02-28 | 2017-02-28 | A kind of tower crane automatic-balancing controller |
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| Country | Link |
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Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4113112A (en) * | 1976-08-13 | 1978-09-12 | Ray Louis F | Constant balance crane |
| CN87204593U (en) * | 1987-09-05 | 1988-05-04 | 郴州市无线电厂 | Perpendicularity detecting apparatus for building |
| CN201325832Y (en) * | 2008-12-26 | 2009-10-14 | 陈晓娇 | A self-balanced crane tower |
| CN101759102A (en) * | 2010-03-03 | 2010-06-30 | 徐州九鼎建设集团有限公司 | Inclination alarming device of tower crane |
| CN102060242A (en) * | 2009-11-17 | 2011-05-18 | 王尚 | Self-adjusting tower stabilizer |
| CN103072895A (en) * | 2013-01-15 | 2013-05-01 | 济南富友慧明监控设备有限公司 | Real-time measuring method and device for lateral perpendicularity of tower crane steel structure |
| CN103335639A (en) * | 2013-04-21 | 2013-10-02 | 安徽建筑工业学院 | Tower body deflection detection sensor of tower crane |
| CN103832936A (en) * | 2013-12-17 | 2014-06-04 | 朝阳凌云建筑机械有限公司 | Lifting moment balance system of tower crane |
| CN203699717U (en) * | 2014-02-28 | 2014-07-09 | 杭州宝塔机械有限公司 | Anti-falling tower crane provided with safety hook |
| CN204329960U (en) * | 2015-01-13 | 2015-05-13 | 中国人民解放军军械工程学院 | Based on the inclination angle dynamic measurement device of weight |
| CN106276608A (en) * | 2016-10-28 | 2017-01-04 | 四川沱江起重机有限公司 | A kind of safe derrick crane |
| CN205920656U (en) * | 2016-05-11 | 2017-02-01 | 高振玲 | Mathematical education changes presentation device with formula angle directly perceived |
-
2017
- 2017-02-28 CN CN201710112226.4A patent/CN106744390A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4113112A (en) * | 1976-08-13 | 1978-09-12 | Ray Louis F | Constant balance crane |
| CN87204593U (en) * | 1987-09-05 | 1988-05-04 | 郴州市无线电厂 | Perpendicularity detecting apparatus for building |
| CN201325832Y (en) * | 2008-12-26 | 2009-10-14 | 陈晓娇 | A self-balanced crane tower |
| CN102060242A (en) * | 2009-11-17 | 2011-05-18 | 王尚 | Self-adjusting tower stabilizer |
| CN101759102A (en) * | 2010-03-03 | 2010-06-30 | 徐州九鼎建设集团有限公司 | Inclination alarming device of tower crane |
| CN103072895A (en) * | 2013-01-15 | 2013-05-01 | 济南富友慧明监控设备有限公司 | Real-time measuring method and device for lateral perpendicularity of tower crane steel structure |
| CN103335639A (en) * | 2013-04-21 | 2013-10-02 | 安徽建筑工业学院 | Tower body deflection detection sensor of tower crane |
| CN103832936A (en) * | 2013-12-17 | 2014-06-04 | 朝阳凌云建筑机械有限公司 | Lifting moment balance system of tower crane |
| CN203699717U (en) * | 2014-02-28 | 2014-07-09 | 杭州宝塔机械有限公司 | Anti-falling tower crane provided with safety hook |
| CN204329960U (en) * | 2015-01-13 | 2015-05-13 | 中国人民解放军军械工程学院 | Based on the inclination angle dynamic measurement device of weight |
| CN205920656U (en) * | 2016-05-11 | 2017-02-01 | 高振玲 | Mathematical education changes presentation device with formula angle directly perceived |
| CN106276608A (en) * | 2016-10-28 | 2017-01-04 | 四川沱江起重机有限公司 | A kind of safe derrick crane |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20170531 |