CN106904533B - A kind of cage antiswing device being used for during cable machine cage puts in storage and method - Google Patents
A kind of cage antiswing device being used for during cable machine cage puts in storage and method Download PDFInfo
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- CN106904533B CN106904533B CN201710228683.XA CN201710228683A CN106904533B CN 106904533 B CN106904533 B CN 106904533B CN 201710228683 A CN201710228683 A CN 201710228683A CN 106904533 B CN106904533 B CN 106904533B
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- cage
- computer
- cable machine
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- wireless communication
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Classifications
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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
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
-
- 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
- B66C13/46—Position indicators for suspended loads or for crane elements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
It is a kind of put in storage for cable machine cage during cage antiswing device and method, including cage, on the cable machine dolly that cage is suspended in midair by hawser, it is characterised in that：Multiple gas cylinders are fixed with cage is outside upper, each gas cylinder is uniformly distributed around cage axis, and the gas cylinder has escape pipe, and nozzle and magnetic valve are provided with escape pipe；Also include coordinate monitoring device, control module and computer, the coordinate monitoring device has two groups, and two groups of coordinate monitoring devices are separately mounted on cage and cable machine dolly, and control module is arranged on cage, and control module controls each magnetic valve to open and close；The coordinate monitoring device includes d GPS locating module and wireless communication module, and d GPS locating module is connected by wireless communication module with computer, and computer is connected by the wireless communication module on cage with control module.
Description
Technical field
The present invention relates to a kind of cage antiswing device being used for during cable machine cage puts in storage, in cable machine running
Hawser caused by extraneous factor and cage are swung and carry out gesture stability and amendment.
Background technology
Cable machine operational efficiency height, maneuverability, lifting capacity is big, working region is wide, and can serve the whole construction period,
It is used for high-mountain gorge areas dam concrete to put in storage in casting process, such as built Xi Luodu, the Wu Dong built
Moral, white crane beach etc. carry out dam major project using cable machine and poured.But because the horizontal span of cable machine is big, vertical-lift distance
Height, concrete bucket is also easy to produce swing during putting in storage, influence cable machine and normally put in storage operation.Furthermore the dam construction cycle
Long, cable machine puts in storage, and intensity is high, high-mountain gorge areas strong wind weather takes place frequently, investigation display, more than 7 grades strong wind of white crane beach engineering dam site
Year frequency about 3000 times, it is contemplated that strong wind will cause cage to swing in being constructed in future, when cable machine emergency brake or anon-normal
Often parking all easily collides the different degrees of posture influenceed in cage running, the swing of cage even with storehouse face entity
Break off relations, if only eliminated by the resistance in air, not only lose time and influence production efficiency, can also draw when serious
Send out production accident.Therefore, need to run cage with a kind of cage anti-swing control device when cable machine handling cage puts in storage
Remain security posture in journey, reduce security risk, improve cable machine and put in storage efficiency.
Current pair more for tower crane OR gate machine with anti-sway research, and the correlative study to cable machine is less, and anti-doing
Swing caused by mechanical displacement is considered during pendulum control is more, considers that the unpredictable element such as environment or emergency case causes to put
Dynamic is less.Cage is that cable machine puts in storage the maximum part of activity, and influence of each factor to cable machine will also pass through the space of cage
Position is directly reflected, therefore, in cable machine running, using cage as research object, by monitoring cage and its in real time
The relative position of his part, the posture of cage is analyzed, judged, and the control to cage is realized by external force.
The content of the invention
Present invention solves the technical problem that it is to provide a kind of cage antiswing device being used for during cable machine cage puts in storage, can
During being put in storage to cable cable machine cage, the posture of cage is adjusted, avoids cage transition from swinging.
In order to solve the above-mentioned technical problem, the technical scheme is that：It is a kind of put in storage for cable machine cage during
Cage antiswing device, including cage, on the cable machine dolly that cage is suspended in midair by hawser, multiple high pressure gas are fixed with cage is outside upper
Bottle, each gas cylinder is uniformly distributed around cage axis, and the gas cylinder has escape pipe, and spray is provided with escape pipe
Mouth and magnetic valve；
Also include coordinate monitoring device, control module and computer, the coordinate monitoring device has two groups, two groups of coordinates
Monitoring device is separately mounted on cage and cable machine dolly, and control module is arranged on cage, and control module controls each magnetic valve
Open and close；
The coordinate monitoring device includes d GPS locating module and wireless communication module, and d GPS locating module passes through radio communication
Module is connected with computer, and computer is connected by the wireless communication module on cage with control module.
Pressure sensor is installed on gas cylinder, pressure sensor is connected with cage communication module.
The cable machine has weighing sensor, and weighing sensor will detect signal by the wireless communication module on cable machine
It is transferred to computer.
It is a kind of put in storage using cable machine cage during the method that is adjusted to cage posture of cage antiswing device, including
Following steps；
The first step, cage is preset in a computer and allows hunting range；
Each coordinate information is passed to by second step, the d GPS locating module on cage and dolly in real time by wireless communication module
Computer, whether computer-made decision cage is being allowed in hunting range, if going beyond the scope, is then entered in next step, if do not surpass
Go out scope, then cable machine continues operation；
3rd step, weighing sensor measurement cage weight, and computer is transmitted a signal to, computer is offset according to cage
Dolly centre distance, direction and cage weight, substantially calculate the size and Impact direction of the power for causing cage to swing.
4th step, computer entered calculating and analysis after, to cage on wireless communication module send control instruction, channel radio
The control instruction received is transferred to control module by letter module, controls each magnetic valve to open and close by control module.
5th step, second step is repeated to the 4th step, circulation is formed, until the end of job.
Control instruction includes needing magnetic valve and the magnetic valve unlatching duration opened.
Beneficial effects of the present invention are：Cable machine can be monitored respectively in cage running by two d GPS locating modules
The relative position of cable machine dolly and cage, and coordinate data is transferred to computer by wireless communication module, sentenced by computer
Do not go out the direction of cage skew and off-centered distance, and safety analysis and judgement are carried out to cage posture.Pass through logarithm
According to analysis after, the real-time status of cage is fed back into cable machine driver, if desired adjusted, driver will pass through computer
Send adjust instruction, after the wireless communication module on cage receives instruction, be transferred to control module, controlled by control module each
Magnetic valve, the air in gas cylinder is ejected, obtain recoil strength by outwards spraying gases at high pressure, make cage posture fast
Quick-recovery is normal, and then realizes and the posture of cage is adjusted, and avoids cage transition from swinging.
Brief description of the drawings
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is the overall structure diagram of the present invention,
Fig. 2 is dimensional structure diagram of the present invention on cage,
Fig. 3 is the control flow schematic diagram of the present invention,
Fig. 4 is the present invention on cage and dolly GPS location display effect schematic diagram,
Fig. 5 is the connection relationship diagram between each electricity piece of the present invention.
In figure：Cage 2, cable machine 1, dolly 12, gas cylinder 3, cart 11, dolly 12, hawser 13, suspension hook 14, escape pipe
31st, nozzle 32, magnetic valve 33.
Embodiment
As shown in Fig. 1 to 4, a kind of cage antiswing device being used for during cable machine cage puts in storage, including cage 2, cage 2
On the dolly 12 of cable machine 1 suspended in midair by hawser 13, drive cage 2 to move by cable machine 1, be fixed with 4 high pressure gas cage 2 is outside upper
Bottle 3, each gas cylinder 3 is uniformly distributed around the axis of cage 2, and the gas cylinder 3 has escape pipe 31, on escape pipe 31
Nozzle 32 and magnetic valve 33 are installed；Wherein cable machine includes cart, dolly 12, hawser 13 and suspension hook 14, and cart 11 realizes cage 2
X to movement, dolly 12 realize cage 2 Y-direction and Z-direction movement；
Also include coordinate monitoring device, control module and computer, the coordinate monitoring device has two groups, two groups of coordinates
Monitoring device is separately mounted on cage 2 and cable machine dolly 12, and control module is arranged on cage 2；
The coordinate monitoring device includes d GPS locating module and wireless communication module, and wireless communication module includes transmitting mould
The coordinate of cage 2 and dolly 12 is transferred to computer by block and receiving module, two d GPS locating modules by transmitter module, by
Computer discriminant goes out the direction of the skew of cage 2 and off-centered distance, and computer will be controlled by the receiving module on cage 2
Instruction is transferred to control module, and control module controls each magnetic valve 33 to open and close according to control instruction is received.
The control module is single-chip microcomputer.
The wireless communication module is Zigbee wireless communication modules.
Four gas cylinders 3 are respectively labeled as No. 1 gas cylinder 3 of gas cylinder 3,3 of gas cylinder 3,2 and No. 4
Gas cylinder 3, the jet of two diagonal gas cylinders 3 is in opposite direction in four gas cylinders 3.
The cable machine has weighing sensor, and weighing sensor will detect signal by the wireless communication module on cable machine
It is transferred to computer.Weighing sensor is typically equipped with cable machine, it is the weight for monitoring lifted weight, if weight surpasses
Rated value is crossed, then cable machine alarm is shut down, and in this patent, mainly monitors the weight of cage 2 using weighing sensor.
Pressure sensor is installed on gas cylinder 3, pressure sensor is connected with the communication module on cage 2.Pressure
Sensor monitors the air pressure in gas cylinder 3 in real time, and pressure value is transmitted by control module and wireless communication module
To computer, when hypotony in gas cylinder 3, cage 2 can be hung down, then replace gas cylinder 3 or inflation.
The present invention concrete operating principle be：As shown in figure 4, the central point of the dolly 12 of cable machine 1, suspension hook 14 and cage 2 exists
Vertical direction should be overlapped when being projected in perfect condition, and the state of dolly 12 operationally is relatively stable, based on this,
Using dolly 12 and cage 2 as two position measuring points, the 12 liang of surveys of cage 2 and dolly are obtained in real time by two d GPS locating modules
The coordinate information of point.The cage 2 of cable machine 1 is defined according to the complexity of the model of cable machine 1, operational factor and site environment to allow to swing
Amplitude, form a circle centered on the coordinate of dolly 12 and allow hunting range, this allows fortune of the hunting range with dolly 12
Move and shift, just need to take measures to be controlled when the amplitude of fluctuation of cage 2 exceedes the scope, cage 2 is returned to safety
Hunting range.
Its specific work process is, as shown in Figure 3；
The first step, cage 2 is preset in a computer and allows hunting range；
Second step, the d GPS locating module on cage 2 and dolly 12 pass each coordinate information by wireless communication module in real time
Enter computer, whether computer-made decision cage 2 is being allowed in hunting range, if going beyond the scope, is then entered in next step, if not
Go beyond the scope, then cable machine continues operation；
3rd step, the weighing sensor measurement weight of cage 2, and computer is transmitted a signal to, computer is inclined according to cage 2
The centre distance of dolly 12, direction and the weight of cage 2 are moved, substantially calculates the size and Impact direction of the power for causing cage 2 to swing.
4th step, computer entered calculating and analysis after, to cage 2 on wireless communication module send control instruction, wirelessly
The control instruction received is transferred to control module by communication module, controls each magnetic valve 33 to open and close by control module, wherein controlling
The magnetic valve 33 and open the duration that the content of system instruction is opened including needs；High pressure gas holder control module receives control and referred to
Gas tank magnetic valve 33 is opened after order, propulsive thrust is formed, so as to complete the control to the posture of cage 2；Allow to swing when cage 2 exceeds
Scope then accordingly extends the opening time of magnetic valve 33 excessively and during 2 heavier-weight of cage, if cage 2 is beyond allowing swing model
Enclose few and cage 2 it is lighter when, then corresponding shortening opening time of magnetic valve 33.
5th step, second step is repeated to the 4th step, circulation is formed, until the end of job.
Claims (3)
1. a kind of cage antiswing device being used for during cable machine cage puts in storage, including cage（2）, cage（2）Pass through hawser
（13）The cable machine of suspention（1）Dolly（12）On, it is characterised in that：In cage（2）It is outside upper to be fixed with multiple gas cylinders（3）, respectively
Gas cylinder（3）It is around cage（2）Axis is uniformly distributed, the gas cylinder（3）With escape pipe（31）, in escape pipe
（31）On nozzle is installed（32）And magnetic valve（33）；
Also include coordinate monitoring device, control module and computer, the coordinate monitoring device has two groups, two groups of coordinate monitorings
Device is separately mounted to cage（2）With cable machine dolly（12）On, control module is arranged on cage（2）On, control module control is each
Magnetic valve（33）Open and close；
The coordinate monitoring device includes d GPS locating module and wireless communication module, and d GPS locating module passes through wireless communication module
It is connected with computer, computer passes through cage（2）On wireless communication module be connected with control module；
In gas cylinder（3）On pressure sensor, pressure sensor and cage are installed（2）Communication module connects；
The cable machine（1）With weighing sensor, weighing sensor passes through cable machine（1）On wireless communication module will detect letter
Number it is transferred to computer.
2. a kind of cage antiswing device being used for during cable machine cage puts in storage described in a kind of usage right requirement 1 is to cage appearance
The method that state is adjusted, it is characterised in that：Comprise the following steps；
The first step, cage is preset in a computer（2）Allow hunting range；
Second step, cage（2）And dolly（12）On d GPS locating module each coordinate information is passed in real time by wireless communication module
Enter computer, computer-made decision cage（2）Whether allowing in hunting range, if going beyond the scope, then entering in next step, if
Without departing from scope, then cable machine continuation operation；
3rd step, weighing sensor measurement cage（2）Weight, and computer is transmitted a signal to, computer is according to cage（2）Partially
Move dolly（12）Centre distance, direction and cage（2）Weight, substantially calculate and cause cage（2）The size of the power of swing and by
Force direction；
4th step, after computer entered calculating and analysis, to cage（2）Upper wireless communication module sends control instruction, channel radio
The control instruction received is transferred to control module by letter module, and each magnetic valve is controlled by control module（33）Open and close；
5th step, second step is repeated to the 4th step, circulation is formed, until the end of job.
3. it is according to claim 2 it is a kind of put in storage using cable machine cage during cage antiswing device cage posture is entered
The method of row adjustment, it is characterised in that：Control instruction includes needing the magnetic valve opened（33）And magnetic valve（33）Open and continue
Time.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710228683.XA CN106904533B (en) | 2017-04-10 | 2017-04-10 | A kind of cage antiswing device being used for during cable machine cage puts in storage and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710228683.XA CN106904533B (en) | 2017-04-10 | 2017-04-10 | A kind of cage antiswing device being used for during cable machine cage puts in storage and method |
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| Publication Number | Publication Date |
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| CN106904533A CN106904533A (en) | 2017-06-30 |
| CN106904533B true CN106904533B (en) | 2018-01-19 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107500137A (en) * | 2017-08-14 | 2017-12-22 | 三海洋重工有限公司 | A kind of crane gear is anti-to shake control method, device, suspender and crane |
| CN109584504B (en) * | 2018-12-04 | 2020-09-08 | 三峡大学 | Early warning method for risk conflict between cable crane tank crane and warehouse construction machinery |
| CN111488665B (en) * | 2020-04-29 | 2022-11-15 | 中国电建集团成都勘测设计研究院有限公司 | Cable crane operation monitoring system and method |
| CN111612256B (en) * | 2020-05-25 | 2022-04-08 | 中国电建集团成都勘测设计研究院有限公司 | Multi-cable machine collision risk analysis method |
| CN112526992B (en) * | 2020-11-27 | 2022-04-08 | 三峡大学 | Concrete dam cable crane warehousing track planning and control method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1107119A (en) * | 1994-07-22 | 1995-08-23 | 中国水利水电长江葛洲坝工程局施工科研所 | Computer control method for cable crane system |
| JP3669242B2 (en) * | 2000-03-03 | 2005-07-06 | 株式会社大林組 | Cable crane control system |
| CN201209090Y (en) * | 2008-03-07 | 2009-03-18 | 中铁十三局集团有限公司 | Ropeway cable crane using single machine traction and lifting at steep terrain |
| CN204474178U (en) * | 2015-01-30 | 2015-07-15 | 中国水利水电第八工程局有限公司 | A kind of cable crane |
| CN105883230B (en) * | 2016-04-27 | 2018-05-11 | 武汉大学 | A kind of composite shock-absorbing concrete bucket being suitable under high wind conditions |
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