CN107235419A - Safety monitoring system for tower crane and the derrick crane with it - Google Patents
Safety monitoring system for tower crane and the derrick crane with it Download PDFInfo
- Publication number
- CN107235419A CN107235419A CN201710560329.7A CN201710560329A CN107235419A CN 107235419 A CN107235419 A CN 107235419A CN 201710560329 A CN201710560329 A CN 201710560329A CN 107235419 A CN107235419 A CN 107235419A
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- safety monitoring
- processing unit
- monitoring system
- gib head
- tower crane
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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
- B66C13/16—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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a kind of safety monitoring system for tower crane and the derrick crane with it, including the GPS positioning device for positioning real time position residing for dolly on derrick crane or suspension hook, also include the processing unit communicated to connect with GPS positioning device, processing unit is used to receive the relevant parameter of GPS positioning device detection and generates security parameter for derrick crane safety monitoring.By setting GPS positioning device and processing unit, it is possible to achieve the real-time detection to many kinds of parameters on derrick crane, safety monitoring system of the present invention is installed, and convenient, debugging is convenient, and control accuracy is high.
Description
Technical field
The present invention relates to derrick crane monitor field, especially, be related to a kind of safety monitoring system for tower crane and
Derrick crane with it.
Background technology
Derrick crane is the heavy duty work equipment in construction site, and its main function is that vertical transport is built in high building construction
Material is built, with continuing to develop for construction industry, skyscraper is more and more, the consumption of derrick crane is also increasing, but companion
With security incident also happen occasionally, the whole nation have a lot of severe and great casualties with personal injury every year.From all
Analysis on accident cause result from the point of view of, derrick crane overload and oversize operation be an assignable cause.
However, lifting capacity and work torque overload protection device that current derrick crane is configured also are asked in the presence of some
Topic, the overweight and super torque safety guard of the use of tower crane in service it is most also mechanically based on, due to this
Two kinds of overload protection devices are all mechanical, without real-time display function, ability when only derrick crane is operated in overload condition
It can provide obvious prompting, and the actual condition of ground hoisting personnel and operator derrick crane when can not accurately know lifting,
Damaged or during line fault once there is mechanical failure, limit switch, derrick crane would operate in it is abnormally dangerous in the state of,
If ground hoisting personnel and operator are careless slightly, it will breed disaster.
Now in the art, also some manufacturers are proposed the safety monitoring system of derrick crane, and the system typically may be used
Show the main operating condition of the derrick cranes such as lifting capacity, work torque, lifting hook work amplitude, height under hook and angle of revolution
Parameter, lifting capacity is realized using the method for the pulling force of measurement hoist rope mostly, and moment values are then by lifting capacity
It is multiplied to calculate what is obtained with the work range of suspension hook, the device is in addition to it can show these duty parameters, moreover it is possible to according to parameter
The size of value provides corresponding control signal to the control system of derrick crane, enables the system to be done according to current loaded-up condition
Go out corresponding control strategy, once overload condition occur in lifting capacity or work torque, device will make the control of derrick crane immediately
System processed enters guard mode, while providing obvious sound and light alarm prompting.This load real-time displaying device is to tower lifting
The safe operation of machine serves positive effect.As CN 104150381A disclose a kind of intelligent monitoring derrick crane, its energy
Realize and the parameters such as the sling height of tower crane, dolly amplitude, angle of revolution, hoisting weight, work torque are monitored, but it is deposited
Set complicated in sensor, for example, angle of revolution sensor, dolly displacement transducer, hook lifting amplitude sensor need to be set,
Accordingly, there exist structure setting complexity, install the high defect of cost additional.
In addition, existing dolly amplitude and the conventional detection method of height under hook are exactly to install one in corresponding mechanism
Small-sized deceleration device, the input shaft of the device is connected with cable drum rotary shaft, the speed reducing ratio selection principle of the deceleration device
Exactly allow output shaft only one circle in rotate, that is, cross know for suspension hook maximum height after, be known that under maximum height
Reel rotating cycle and then the speed reducing ratio for obtaining small reductor, are typically provided with cam, for being formed in the output end of reducer
It is spacing, height under hook is can detect if installing upper angle sensor additional；Similarly, generally we claim this small to subtract for the detection of dolly amplitude
Quick-mounting is set to Multifunction position limiting device, and the detection of angle of revolution is that a Multifunction position limiting device is installed outside tower crane gyration gear ring, and its is defeated
Enter and be fitted to measure angle of revolution with gyration gear ring by this small wheel.And tower crane has two important load parameters, one is rising
Lift heavy amount, the limitation to hoisting weight is exactly the protection to raising transmission system, such as steel wire rope, reductor and motor etc., should
Parameter is measurement hoisting wirerope pulling force mostly；And the most key load parameter is the work torque of tower crane, to the parameter
Limitation is exactly the protection to tower crane structural member, once torque is overloaded, structural member can be damaged mostly, perhaps this result in
The major casualties of tower are turned over, so, the significance level that tower crane is limited torque is far longer than the limitation to weight, and big at present
Many safety monitoring system for tower crane are special by the lifting capacity prestored originally all according to current dolly range value to moment values
Linearity curve, which is tabled look-up, to be obtained or directly calculates to obtain allowing hoisting weight.
Existing safety monitoring system for tower crane basic fundamental is similar, and various parameters detection mode is similar, but
There is the defect of following general character：
1st, measurement error is big, and current safety monitoring system for tower crane is surveyed by detecting the number of turns of cable drum
It is not inherently a desirable method to measure dolly amplitude or height under hook because the number of turns of reel be unable to accurate representation release or
The length of steel wire rope is withdrawn, because reel number of plies relation where having steel wire rope, also has the relation of steel wire rope slump, while many work(
The reductor of energy namely one large speed ratio of limiter, the device can produce larger next round interval, bring mistake to measurement again
Difference, after converting, further there is error in obtained output angle, experiment proves that, the system of dolly amplitude and height under hook
Error reaches meter level.
2nd, defencive function has potential safety hazard, because the error of dolly range parameter will result in the mistake of tower crane moment limitation
Difference.The foregoing torque limitation for understanding tower crane combines current lift heavy to realize according to dolly range value, when dolly amplitude detection
The inaccurate of force moment protection certainly will be caused by error occur, there is certain potential safety hazard.
3rd, install complicated, cost is high, in tower crane, each mechanism installation site is disperseed, and each mechanism must install one
Sensing device, circuit length and scattered certainly will cause to install complicated, cost is high.
The content of the invention
The invention provides a kind of safety monitoring system for tower crane, to solve existing derrick crane parameter monitoring
Unreliable and installation is complicated, the technical problem of structure disperses.
The technical solution adopted by the present invention is as follows：
According to an aspect of the present invention there is provided a kind of safety monitoring system for tower crane, including it is tower for positioning
The GPS positioning device of real time position residing for dolly or suspension hook on crane, in addition to the place communicated to connect with GPS positioning device
Device is managed, processing unit is used to receive the relevant parameter of GPS positioning device detection and generated for derrick crane safety monitoring
Security parameter.
Further, security parameter includes but is not limited to：Arm pivot angle, dolly amplitude, hoisting weight, height under hook, work
Make torque；When GPS positioning device is on dolly, in addition to for detecting the height sensor of the real-time height parameter of suspension hook, place
Manage the corresponding height under hook of detection parameter generation that device receives height sensor.
Further, the geographical position coordinates that processing unit is used to be detected according to the GPS positioning device of reception generate dolly
Amplitude and arm pivot angle.
Further, processing unit also includes initialization unit, and the data for being received according to GPS positioning device are carried out just
Beginningization.
Further, processing unit also includes computing unit, for generating the corresponding pace of change of security parameter, with advance
Anticipation dangerous working condition.
Further, GPS positioning device is positioned based on real time dynamic differential, including the shifting being arranged on suspension hook or dolly
Dynamic GPS unit and the benchmark GPS unit being fixedly arranged on ground.
Further, safety monitoring system of the present invention also includes the lift heavy detection dress for being used to detect that suspension hook hangs weight weight
Put, elevating weight detecting device is the suspension hook with detection function of weighing, elevating weight detecting device is communicated to connect with processing unit, for inciting somebody to action
The hoisting weight of detection passes to processing unit.
Further, suspension hook includes gib head, and gib head is located at being fixed in the support beam in fixed seat, and gib head is horizontal with support
The junction of beam, which is provided with, to be used to sense the force-measuring sensing device that gib head hangs weight of object；Or suspension hook includes gib head, gib head warp
Gib head assembly is connected in fixed seat, and gib head assembly includes being used to connect the gib head fixed plate of gib head and located at gib head fixed plate
For detecting that suspension hook hangs the bearing pin sensor of the weight of weight；Bearing pin sensor is socketed in fixed seat or connected through pinboard
Connection fixed seat.
Further, processing unit is in the driver's cabin of derrick crane and/or processing unit is provided with for uploading number
According to uploading module.
According to another aspect of the present invention, a kind of derrick crane, including above-mentioned derrick crane safety are additionally provided
Monitoring system.
The invention has the advantages that：
Safety monitoring system for tower crane of the present invention and the derrick crane with it, by setting GPS positioning device
And processing unit, it is possible to achieve the real-time detection to many kinds of parameters on derrick crane, safety monitoring system of the present invention is installed just
Profit, debugging are convenient, and control accuracy is high.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to accompanying drawings, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing for constituting the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the structural representation of derrick crane in the preferred embodiment of the present invention；
Fig. 2 is the principle block diagram of safety monitoring system for tower crane in the preferred embodiment of the present invention.
Description of reference numerals：
1st, tower body；2nd, arm；3rd, counterweight；4th, suspension hook；5th, dolly；
10th, elevating weight detecting device；20th, GPS positioning device；30th, processing unit.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Safety monitoring system for tower crane of the present invention, operating condition parameter during for working derrick crane is carried out
Detection in real time, in order to carry out intelligent safety monitoring to derrick crane.The key ideas of the present invention is to utilize at tower
GPS positioning device is installed on heavy-duty machine to realize the detection of multiple call parameters during to derrick crane operation, coordinates lifting capacity,
And then show and limit when realizing the high-precision real to derrick crane working region and loaded-up condition.
In reference picture 1, the present embodiment, derrick crane include be made up of multiple standard knots tower body 1, on tower body 1
Arm 2 and counter-jib, the one end of one end of counter-jib provided with counterweight 3, arm 2 is provided with along the movable dolly 5 of arm 2, small
On car 5 suspension hook 4 is connected with through hook mechanism.Reference picture 2, the present embodiment safety monitoring system for tower crane, including with
The elevating weight detecting device 10 of weight weight is hung in detection suspension hook and for positioning dolly 5 or the institute of suspension hook 4 on derrick crane
Locate the GPS positioning device 20 of real time position, in addition to the processing communicated to connect with elevating weight detecting device 10 and GPS positioning device 20
Device 30, processing unit 30 is for receiving the relevant parameter of elevating weight detecting device 10 and the detection of GPS positioning device 20 and generating use
In the security parameter of derrick crane safety monitoring.The present embodiment safety monitoring system for tower crane, by setting lift heavy to examine
Survey device 10, GPS positioning device 20 and processing unit 30, it is possible to achieve the real-time detection to many kinds of parameters on derrick crane,
Safety monitoring system of the present invention is installed, and convenient, debugging is convenient, and control accuracy is high.In other embodiments, hanging in the system
Re-detection device 10 can be omitted, the lift heavy parameter of tower crane system detectio is received by processing unit 30, with being detected in the present invention
GPS geographical location information combines generation security parameter.
Embodiment one：
In one embodiment, GPS positioning device 20 is arranged on suspension hook 4, and GPS positioning device 20 receives current suspension hook institute
The geographical location information at place, the corresponding lift heavy parameter of the generation suspension hook of elevating weight detecting device 10, geographical position is received by processing unit 30
Confidence breath and lift heavy parameter generate the security parameter for reflecting current derrick crane operating condition.In the present embodiment, safety
Parameter includes but is not limited to：Arm pivot angle, dolly amplitude, hoisting weight, height under hook, work torque.In a particular application,
The location information that GPS positioning device 20 is received includes longitude and latitude degrees of data and altitude data, and processing unit 30 includes initialization
Unit, the data for being received according to GPS positioning device 20 are initialized.During initialization, control tower crane is rotated by 360 °, essence
Really determine the center geographical position coordinates residing for tower crane.The geographical position that processing unit 30 is presently according to the suspension hook of reception
Corresponding location parameter, and then draw dolly amplitude, arm pivot angle, height under hook.Processing unit 30 receives elevating weight detecting device
The lift heavy parameter of 10 generations, that is, obtain hoisting weight, by Calculating Torque during Rotary method, with reference to obtained dolly range parameter, you can
Processing draws work torque parameter.Preferably, processing unit 30 can be integrated in existing tower crane driver's cabin, by wired or
Person's communication is communicated to connect with elevating weight detecting device 10 and GPS positioning device 20, to receive corresponding detection parameter, is entered
And shown through the display terminal in driver's cabin.Alternatively, processing unit 30 can be arranged on suspension hook or dolly, processing
It is provided for uploading the uploading module of data on device 30, the security parameter of detection is sent to tower crane driver's cabin through uploading module
On interior and/or handheld terminal, in order to which driver or ground installation personnel (correspondence handheld terminal holder) can be obtained in time
Know the corresponding operating condition parameter of derrick crane.
Preferably, processing unit 30 also includes computing unit, for generating the corresponding pace of change of security parameter, with advance
Anticipation dangerous working condition.In the present embodiment, for Preservation tactics with high safety, the change speed of parameters is obtained by calculating processing
Degree, can also shift to an earlier date anticipation dangerous working condition, and realize guarantor alarm or by way of through control system taking automatic protection strategy
Shield, further improves operational reliability.
Preferably, in order to improve the precision that whole system is monitored, GPS positioning device is based on real time dynamic differential RTK
(Real-time kinematic) is positioned, and positioning precision can be promoted into Centimeter Level.Specifically, GPS positioning device includes setting
The mobile GPS unit being placed on suspension hook or dolly and the benchmark GPS unit being fixedly arranged on ground.
Satellite navigation and location system is made up of three parts：Aerospace Satellite constellation, ground monitoring and user equipment, satellite
Navigator fix signal is successively sent, certain error, ground monitoring system can be produced when by atmosphere and ionosphere
Establishment satellite ephemeris is calculated according to satellite data, and is injected through injection station and gives each satellite, satellite ephemeris includes two kinds, Yi Zhongshi
Broadcast ephemeris, real-time reception satellite data, so because error causes precision to be only used for real-time navigation positioning than relatively low.
Another is precise ephemeris, and satellite data is calculated through accurate processing afterwards, and the ephemeris is only for high accuracy positioning afterwards, no
It can be positioned in real time.In the present embodiment, the principle of RTK technologies is to set two stations, and base station (i.e. benchmark GPS unit) is set
It is fixed on ground, with defined location coordinate, then a mobile GPS end (i.e. mobile GPS unit), mobile GPS are set
End can be at inactive state, can also be in motion state；It can first be initialized on fixing point and enter back into dynamic job afterwards,
It can directly start shooting in a dynamic condition, and complete under dynamic environment the search finding of all fuzzinesses.Base station passes through Data-Link
Send its observation and survey station coordinate information to mobile GPS end together, mobile GPS end is not only received by Data-Link and comes from base
The data at quasi- station, will also gather observation data, the accurate and non-accurate data received be carried out into real-time resolving, in system
Composition difference observation is handled in real time, and data are contrasted, the real-time accuracy of position is calculated, Centimeter Level can be reached
High accuracy positioning result, lasted less than one second, so that real-time high accuracy positioning is realized, so as to meet derrick crane safety
The required precision of monitoring system.
In the present embodiment, elevating weight detecting device is the suspension hook with detection function of weighing.
In a detailed embodiment, suspension hook includes the fixed seat played a supportive role and is used to connect in fixed seat
The first connecting portion of derricking gear, the second connecting portion for connecting object to be transferred, first connecting portion are pulley, the second connection
Portion is gib head, and gib head is fixed in fixed seat through gib head fixture, in the present embodiment, and gib head fixture is included in fixed seat
Support beam, the junction of gib head and support beam, which is provided with, to be used to sense the force-measuring sensing device that gib head hangs weight of object,
The uploading module that processing unit is uploaded to for receiving the gravimetric value of force-measuring sensing device detection is additionally provided with suspension hook.Wherein, survey
Force sensor includes being used to sense the annular pressure sensor that gib head hangs weight of object, and annular pressure sensor is connected to
The signal conditioning circuit of processing is amplified to transducing signal and for being changed the electric signal after enhanced processing to obtain
The arithmetic control circuit of weight detecting value.
In another embodiment, suspension hook includes the fixed seat played a supportive role and is used to connect in fixed seat
The first connecting portion of derricking gear, the second connecting portion for connecting object to be transferred, first connecting portion are pulley, the second connection
Portion is gib head, and gib head is connected in fixed seat through gib head assembly, gib head assembly include be used for connect gib head gib head fixed plate and
It is used to detect that suspension hook hangs the bearing pin sensor of the weight of weight in gib head fixed plate；Bearing pin sensor is socketed on fixed seat
Above or through pinboard connection fixing base；The signal that bearing pin sensor is connected to be detected is converted to the sensing letter of gravimetric value
Number processing unit；The gravimetric value uploading detection parameter for receiving the generation of transducing signal processing unit is additionally provided with suspension hook extremely to handle
The uploading module of device.Bearing pin sensor is pressure sensor, and transducing signal processing unit includes signal conditioning circuit and computing
Control circuit；Signal conditioning circuit connects pressure sensor, for being amplified processing to transducing signal；Arithmetic control circuit connects
Signal conditioning circuit is connect, for carrying out being converted to weight detecting value to the electric signal after enhanced processing.
Embodiment two：
Embodiment two and the difference of above-described embodiment one are, when GPS positioning device 20 is on dolly 5, in addition to use
In the height sensor (for example detecting height parameter using barometer) of the detection real-time height parameter of suspension hook 4, processing unit 30 connects
The detection parameter for receiving height sensor generates corresponding height under hook.Remainder is not made herein with reference to the description of embodiment one
Repeat.
According to another aspect of the present invention, a kind of derrick crane is additionally provided, includes the tower lifting of above-described embodiment
Machine safety monitoring system.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of safety monitoring system for tower crane, it is characterised in that including for positioning dolly on the derrick crane
Or the GPS positioning device (20) of real time position residing for suspension hook, in addition to the place communicated to connect with the GPS positioning device (20)
Device (30) is managed, the processing unit (30) is used to receive the relevant parameter of the GPS positioning device (20) detection and generates use
In the security parameter of the derrick crane safety monitoring.
2. safety monitoring system for tower crane according to claim 1, it is characterised in that
The security parameter includes but is not limited to：Arm pivot angle, dolly amplitude, hoisting weight, height under hook, work torque；Institute
When stating GPS positioning device (20) on the dolly, in addition to for detecting that the height of the real-time height parameter of the suspension hook is passed
Sensor, the detection parameter that the processing unit (30) receives the height sensor generates the corresponding height under hook.
3. safety monitoring system for tower crane according to claim 2, it is characterised in that
The geographical position coordinates that the processing unit (30) is used to be detected according to the GPS positioning device (20) of reception generate institute
State dolly amplitude and the arm pivot angle.
4. safety monitoring system for tower crane according to claim 3, it is characterised in that
The processing unit (30) also includes initialization unit, and the data for being received according to the GPS positioning device (20) are entered
Row initialization.
5. safety monitoring system for tower crane according to claim 4, it is characterised in that
The processing unit (30) also includes computing unit, for generating the corresponding pace of change of the security parameter, with advance
Anticipation dangerous working condition.
6. safety monitoring system for tower crane according to claim 1, it is characterised in that
The GPS positioning device (20) is positioned based on real time dynamic differential, including is arranged on the suspension hook or the dolly
Mobile GPS unit and the benchmark GPS unit that is fixedly arranged on ground.
7. safety monitoring system for tower crane according to claim 1, it is characterised in that
Also include being used to detect that suspension hook hangs the elevating weight detecting device (10) of weight weight, the elevating weight detecting device (10) is tool
There is the suspension hook for detection function of weighing；The elevating weight detecting device (10) communicates to connect with the processing unit (30), for that will examine
The hoisting weight of survey passes to the processing unit (30).
8. safety monitoring system for tower crane according to claim 7, it is characterised in that
The suspension hook includes gib head, and the gib head is located at and is fixed in the support beam in fixed seat, the gib head and the branch
The junction of support crossbeam, which is provided with, to be used to sense the force-measuring sensing device that the gib head hangs weight of object；Or
The suspension hook includes gib head, and the gib head is connected in fixed seat through gib head assembly, and gib head assembly includes being used to connect institute
State the gib head fixed plate of gib head and be used for the bearing pin sensing for detecting that suspension hook hangs the weight of weight in the gib head fixed plate
Device, the bearing pin sensor is socketed in the fixed seat or connects the fixed seat through pinboard.
9. according to any described safety monitoring system for tower crane of claim 1 to 8, it is characterised in that
The processing unit (30) is in the driver's cabin of the derrick crane and/or the processing unit (30) is provided with being used for
Upload the uploading module of data.
10. a kind of derrick crane, it is characterised in that supervised safely including the derrick crane as described in claim 1 to 9 is any
Control system.
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| CN201710560329.7A CN107235419A (en) | 2017-07-11 | 2017-07-11 | Safety monitoring system for tower crane and the derrick crane with it |
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| CN201710560329.7A CN107235419A (en) | 2017-07-11 | 2017-07-11 | Safety monitoring system for tower crane and the derrick crane with it |
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| CN108249307A (en) * | 2018-01-17 | 2018-07-06 | 北京建筑大学 | A kind of traverse measurement of goliath and feedback control system and method |
| CN108502736A (en) * | 2018-04-20 | 2018-09-07 | 北京建筑大学 | A kind of tower crane suspension hook localization method based on GNSS |
| CN109052190A (en) * | 2018-11-01 | 2018-12-21 | 徐州金港起重机制造有限公司 | A kind of tower crane of energy-saving safe |
| CN109552999A (en) * | 2019-01-10 | 2019-04-02 | 长沙海川自动化设备有限公司 | The control system and method, tower crane, storage medium of tower crane lifting hook work amplitude |
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| CN114706344A (en) * | 2022-02-19 | 2022-07-05 | 山东港口渤海湾港集团有限公司 | Safety avoidance method based on automatic gantry crane cooperative operation |
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