CN108328478B - Multi-crane cooperative lifting operation method and device and crane - Google Patents
Multi-crane cooperative lifting operation method and device and crane Download PDFInfo
- Publication number
- CN108328478B CN108328478B CN201810119965.0A CN201810119965A CN108328478B CN 108328478 B CN108328478 B CN 108328478B CN 201810119965 A CN201810119965 A CN 201810119965A CN 108328478 B CN108328478 B CN 108328478B
- Authority
- CN
- China
- Prior art keywords
- crane
- lifting
- cranes
- cooperative
- height
- Prior art date
- 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.)
- Active
Links
Images
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
- B66C13/18—Control systems or 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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
-
- 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
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
Abstract
The invention relates to a multi-crane cooperative lifting operation method, a multi-crane cooperative lifting operation device and a crane, wherein the operation method comprises the following steps: establishing communication connection among cranes; selecting one crane as a master machine from all cranes, and using the other cranes as slave machines; in the process of lifting operation, the host machine acquires the lifting working condition information of each crane, and calculates the target lifting speed of each crane according to the lifting working condition information; each crane controls the machine to run at a corresponding target lifting speed. The operation method realizes data sharing among all machines, and the information acquisition real-time performance is good; and the host machine is used for unified command, and the distributed control mode of each machine is favorable for realizing synchronization of lifting speeds of lifting hooks in multi-machine operation, ensures that the lifting position is relatively stable, prevents the lifting weight from generating unbalance loading, reduces the possibility of dangers such as breakage or tipping of the lifting arm and the like, and can improve the working efficiency and the lifting safety.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a multi-crane cooperative lifting operation method and device and a crane.
Background
A crane is a multi-action hoisting machine that vertically lifts and horizontally carries heavy objects within a certain range, and is also called a crane. Nowadays, various cranes are widely used in urban building construction, factory equipment hoisting, bridge construction and other occasions. Because the hoisting weight has various shapes and different weights, a plurality of cranes are often required to perform cooperative hoisting operation. As shown in fig. 1, the two cranes are prepared to perform a cooperative hoisting operation.
For example, in the construction of viaducts and railway bridges, two cranes with the same or similar lifting capacity are generally required to lift simultaneously, horizontally lift from the ground or a trailer, and then horizontally place on a pier. In order to ensure that unbalance loading cannot occur, the bridge is kept in a basically horizontal state in the hoisting process, and the requirement on the cooperative matching capability of two operators is high.
And for large-scale equipment hoisting, one crane with large hoisting weight is generally used as a main crane, one crane with small hoisting weight is used as an auxiliary crane, the hoisting weight is not averagely distributed to the two cranes, and the requirement on the hoisting synchronism of the two cranes is higher at the moment.
As shown in fig. 1, two cranes are prepared to perform cooperative hoisting operation, and the two cranes share the hoisting weight according to the hoisting weight performance of the crane, but in the actual hoisting process, when the control is asynchronous, as shown in fig. 2, the heavy object is easy to be unbalanced in the hoisting process, so that the weight shared by one crane is increased, and if the hoisting capacity exceeds the rated hoisting capacity, danger (breakage, tipping and the like of the boom) occurs, which is not favorable for safe operation.
In the prior art, in order to ensure the synchronism of the cooperative lifting operation of the crane, each crane operator needs to observe the lifting weight information and the field condition of the crane through respective visual angles, and the crane operators can communicate with each other through mobile equipment such as a wireless interphone, a mobile phone and the like in a voice mode; or the commander can uniformly command the crane operators for cooperative operation through the mobile equipment.
Each crane operator can communicate information with each other and then coordinate to make a decision according to respective conditions, and the real-time performance is poor; the real-time performance of respective crane operators for knowing the crane states of the companions is poor, the situation of mutual miscommand can occur, and the safety is poor; increase commander personnel, increase the cost of labor, increase intensity of labour.
Disclosure of Invention
The invention aims to provide a multi-crane cooperative lifting operation method, a multi-crane cooperative lifting operation device and a crane, which can improve the safety of a plurality of cranes in cooperative lifting operation.
According to one aspect of the invention, a method for multi-crane cooperative lifting operation is provided, which comprises the following steps:
establishing communication connection among cranes;
selecting one crane as a master machine from all cranes, and using the other cranes as slave machines;
in the process of lifting operation, the host machine acquires the lifting working condition information of each crane, and calculates the target lifting speed of each crane according to the lifting working condition information;
each crane controls the machine to run at a corresponding target lifting speed.
Further, the communication connection between the cranes is a wireless communication connection.
Further, the operation method further comprises the following steps:
and each crane respectively calculates the height of the hook of the crane.
Further, before the lifting operation, the operation method further comprises the following steps:
the height of the hook of each crane when the hoisting weight is just hoisted is determined as the position of each base point.
Further, in the lifting operation process, the operation method further comprises the following steps:
the relative variation of the height of the hook of the crane relative to the base point position is calculated by each crane as the lifting height of the hook of the crane relative to the base point position.
Further, the step of calculating the height of the local hook specifically includes:
calculating the number of rotation turns of the winding drum according to the rotation speed of the winding drum and the winding drum parameters;
calculating the winding and unwinding length of the steel wire rope according to the number of rotation turns of the winding drum, winding parameters of the steel wire rope on the winding drum and the diameter size of the steel wire rope;
and calculating the vertical height of the lifting hook from the center of the drum according to the retracting length of the steel wire rope, the length of the arm support, the angle of the arm support, the structural size of the crane and the winding rate of the lifting hook, and taking the vertical height as the lifting height of each crane lifting hook.
Further, the step of controlling the local machine to operate at the corresponding target hoisting speed by each crane specifically comprises:
each crane receives the target lifting speed sent by the host;
each crane obtains an electric signal value required by the lifting actuating mechanism of the crane according to the target lifting speed;
each crane controls the lifting actuating mechanism of the crane to operate through corresponding electric signals.
Further, the operation method further comprises the following steps:
and each crane judges whether the data of the crane is abnormal or not, if so, each crane executes shutdown operation, otherwise, the host calculates the target lifting speed of each crane.
Further, if the data is judged to have an abnormality, the step of executing the shutdown operation includes:
the host machine resets the target lifting speeds of the host machine and each slave machine in a zero clearing way;
the hoisting speed of each crane is reduced until stopped.
Further, the data presence anomaly comprises at least one of:
the lifting height deviation of the lifting hook of each crane relative to the position of the corresponding base point exceeds a preset height difference; and
the hoisting weight of each crane exceeds the rated hoisting weight of the crane.
Further, if the data is judged to have an abnormality, the operation method further includes:
and carrying out alarm prompt.
Further, if the data is judged to be normal, before the host computer calculates the target lifting speed of each crane, the operation method further comprises the following steps:
each crane reads a control signal which allows the crane to carry out lifting operation.
Further, the lifting condition information comprises at least one of the following parameters:
the system comprises an arm support working type, an arm support length, a lifting hook height, a rated lifting weight, an actual lifting weight, a working amplitude, an arm head height, a moment percentage, a lifting weight early warning alarm, a lifting weight overload alarm and fault information.
Further, before the step of selecting one of the cranes as a master and the other cranes as slaves, the operation method further comprises the following steps:
and starting the lifting coordination function of each crane.
According to another aspect of the present invention, a multi-crane cooperative lifting operation device is provided, including:
the communication module is arranged on each crane and used for establishing communication connection among the cranes;
the role selection module is used for selecting one crane from the cranes as a master machine, and the other cranes as slave machines;
the lifting speed determining module is arranged on the host and used for calculating the target lifting speed of each crane according to the lifting working condition information of each crane acquired in the lifting operation; and
and the lifting control modules are arranged on the cranes and used for enabling the cranes to control the local machine to operate at the corresponding target lifting speed.
Further, still include:
and the lifting working condition acquisition module is arranged on each crane and used for determining the lifting working condition information of the crane.
Further, the communication module includes:
the wireless transmitting module is used for transmitting data information to other cranes; and
and the wireless receiving module is used for receiving the control information and the data information sent by other cranes.
Further, still include:
and the base point determining module is arranged on each crane and is used for determining the height of a lifting hook of the crane when the hoisting weight is just hoisted as the position of each base point.
Further, still include:
and the lifting height determining module is arranged on each crane and used for calculating the lifting height of the lifting hook of the crane relative to the position of the corresponding base point in the lifting operation process.
Further, the hoisting control module comprises:
the hoisting speed receiving module is used for enabling each crane to receive the target hoisting speed sent by the host;
the control signal determining module is used for enabling each crane to obtain an electric signal value required by the lifting executing mechanism of the crane according to the target lifting speed; and
and the lifting speed control module is used for controlling the lifting execution mechanism of the crane to operate through corresponding electric signals.
Further, still include:
the data abnormity judging module is arranged on each crane and used for judging whether the data of the crane is abnormal or not; and
and the shutdown control module is arranged on each crane and used for enabling the crane to execute shutdown operation under the condition that the data abnormity judgment module judges that the data of the crane is abnormal.
Further, the data presence anomaly comprises at least one of:
the lifting height deviation of the lifting hook of each crane relative to the position of the corresponding base point exceeds a preset height difference; and
the hoisting weight of each crane exceeds the rated hoisting weight of the crane.
Further, still include:
and the alarm module is arranged on each crane and used for giving an alarm prompt when the data abnormity judgment module judges that the data of the crane is abnormal.
Further, still include:
and the lifting confirmation buttons are arranged on the cranes and used for receiving external control signals to allow the cranes to carry out lifting operation before the data abnormity judgment module judges that the data of the cranes are normal and the lifting speed determination module of the host calculates the target lifting speed of each crane.
Further, the lifting condition information comprises at least one of the following parameters:
the system comprises an arm support working type, an arm support length, a lifting hook height, a rated lifting weight, an actual lifting weight, a working amplitude, an arm head height, a moment percentage, a lifting weight early warning alarm, a lifting weight overload alarm and fault information.
Further, still include:
the vehicle-mounted man-machine interaction system is arranged in each crane and used for switching the machine between a multi-machine operation mode and a single-machine operation mode so as to realize a lifting coordination function when each crane is switched to the multi-machine operation mode.
According to another aspect of the invention, a crane is provided, which comprises the multi-crane cooperative lifting operation device of the embodiment.
Based on the technical scheme, the multi-crane cooperative lifting operation method realizes data sharing among the cranes through communication connection, can obtain lifting height of lifting hooks of the cranes and other working condition information in real time, and is good in information obtaining real-time performance. And the host machine is used for unified command, the distributed control mode of each machine is beneficial to the coordination among the machines, the condition of wrong command is not easy to occur, the synchronous lifting speed of the lifting hook during the operation of multiple machines can be realized, the relative stability of the position of the lifting weight is ensured, the unbalance loading of the lifting weight is prevented, the lifting weight shared by each crane in the lifting operation process does not exceed the rated lifting weight, the possibility of dangers such as breakage or tipping of the lifting arm is reduced, and the working efficiency and the lifting safety can be improved. In addition, the crane cooperative operation method has high automation degree, can reduce the labor cost and reduce the labor intensity.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of a multi-crane cooperative lifting operation;
FIG. 2 is a schematic diagram of a multi-crane cooperative lifting operation in an unbalanced loading state in the prior art;
FIG. 3 is a schematic structural view of the crane of the present invention;
FIG. 4 is a schematic view of the multi-crane cooperative lifting operation of the present invention;
FIG. 5 is a schematic flow chart diagram illustrating a method for cooperative lifting operation of multiple cranes according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart illustrating a method for cooperative lifting operation of multiple cranes according to another embodiment of the present invention;
FIG. 7 is a schematic flow chart illustrating a method for cooperative lifting operation of multiple cranes according to still another embodiment of the present invention;
FIG. 8 is a schematic flow chart illustrating a method for operating a multi-crane cooperative lifting operation according to another embodiment of the present invention;
fig. 9 is a schematic diagram of a module composition of an embodiment of the multi-crane cooperative lifting operation device.
Detailed Description
The present invention is described in detail below. In the following paragraphs, different aspects of the embodiments are defined in more detail. Aspects so defined may be combined with any other aspect or aspects unless clearly indicated to the contrary. In particular, any feature considered to be preferred or advantageous may be combined with one or more other features considered to be preferred or advantageous.
In the description of the present invention, it is to be understood that the terms "length", "width", "height", "up", "down", "left" and "right", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention, and do not indicate or imply that the device referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the scope of the present invention.
The terms "first", "second", and the like in the present invention are merely for convenience of description to distinguish different constituent elements having the same name, and do not denote a sequential or primary-secondary relationship.
As shown in fig. 3, which is a schematic structural diagram of a crane, the crane is mainly used for performing hoisting operation, and a hoisting mechanism is an important component of a wheel crane and realizes hoisting operation together with an arm support 1. Hoisting mechanism mainly includes: the device comprises a driving device, a transmission device, a hoisting motor, a hoisting drum 2, a steel wire rope 3 and a lifting hook 6. The number of the steel wire ropes 3 used for supporting the lifting hook 6 is called multiplying power, one end of each steel wire rope 3 is fixed and wound on the lifting drum 2, and the other end of each steel wire rope 3 is connected with the lifting hook 6 or a fixed point on the arm support 1 by bypassing the arm support pulley 4 and the lifting hook pulley 5. The hoisting mechanism of the wheel crane drives a hydraulic pump by an engine to provide power, drives a hydraulic motor to rotate through hydraulic transmission, the hydraulic motor is connected with a hoisting reel 2, and the hoisting reel 2 rotates to realize the winding and unwinding of a steel wire rope 3, so that the steel wire rope 3 drives a lifting hook 6 to rise and fall.
Referring to fig. 5 to 8, the present invention provides a method for multi-crane cooperative lifting operation, and the lifting operation mentioned above may include lifting, descending, starting, stopping and the like. In an exemplary embodiment, as shown in the flow diagram of fig. 5, the operation method includes the following steps:
101, establishing communication connection among cranes;
102, selecting one crane from all cranes as a master machine, and using the other cranes as slave machines;
103, in the process of lifting operation, the host machine acquires the lifting working condition information of each crane, and calculates the target lifting speed of each crane according to the lifting working condition information;
and step 104, controlling the crane to run at a corresponding target lifting speed by each crane.
Step 101 is used for realizing data sharing and instruction transmission among cranes. The cranes can be connected through cables before the hoisting task is executed, so that communication connection can be established in a wired mode; or each crane can also be provided with a wireless communication module to establish communication connection in a wireless mode, such as a wireless network, radar and the like. The wireless communication mode is convenient for make each hoist nimble shift position in hoist and mount process, is difficult to receive the foreign object because of the cable and destroys and influence communication connection, improves communication connection's reliability.
The step 102 is used to select the roles of the cranes, and the execution sequence of the steps 102 and 101 is not limited. A master/slave selecting button can be arranged in each crane, and the role of the corresponding crane can be set through the button before the hoisting operation. In each of the cooperatively operating cranes, only one is used as a master and all the others are used as slaves. Preferably, the crane with a large hoisting weight is used as a master, and the other cranes are used as slaves, but the selection method is not limited to this.
Preferably, the lifting condition information comprises at least one of the following parameters: the system comprises an arm support working type, an arm support length, a lifting hook height, a rated lifting weight, an actual lifting weight, a working amplitude, an arm head height, a moment percentage, a lifting weight early warning alarm, a lifting weight overload alarm and fault information. Wherein, the cantilever crane work type includes: the main arm works independently, the main arm and the auxiliary arm work together, and the main arm, the auxiliary arm and the super boom work together.
In the process of the cooperative operation of each crane, real-time data of each crane is displayed on a display, and when data are abnormal, the data can be timely found. And the data in the whole operation process can be stored and recorded in real time for subsequent viewing and analysis.
According to the multi-crane cooperative lifting operation method, data sharing among the cranes is achieved through communication connection, lifting height of lifting hooks of the cranes and other working condition information can be obtained in real time, and information obtaining real-time performance is good. And the host machine is used for unified command, the distributed control mode of each machine is beneficial to the coordination among the machines, the condition of wrong command is not easy to occur, the synchronous lifting speed of the lifting hook during the operation of multiple machines can be realized, the relative stability of the position of the lifting weight is ensured, the unbalance loading of the lifting weight is prevented, the lifting weight shared by each crane in the lifting operation process does not exceed the rated lifting weight, the possibility of dangers such as breakage or tipping of the lifting arm is reduced, and the working efficiency and the lifting safety can be improved. In addition, the crane has high automation degree of cooperative operation, can reduce the labor cost and reduce the labor intensity.
In another embodiment of the present invention, as shown in the flowchart of fig. 6, the operation method further includes:
and 105, respectively calculating the height of the hook of the crane by each crane. The height of the lifting hook is the vertical height of the lifting hook and the center of the lifting drum.
Step 105 is performed after step 102 and requires calculation of the hook height during subsequent determinations of the base point position of each hook and the overall hoist. Through data sharing, the host computer can obtain the height data of the lifting hook of each machine. In the lifting process, in order to ensure the stable lifting state, the height of the lifting hook is a target control quantity, and fixed length control can be realized by calculating the height of the lifting hook, so that the lifting speeds of the lifting hooks of all cranes are kept synchronous, the relative stability of the lifting position is ensured, and the lifting safety is improved.
Specifically, the step 105 of calculating the height of the local hook by each crane specifically includes:
105A, calculating the number of rotation turns of rope unwinding or rope winding of the winding drum according to the rotation speed of the winding drum and the winding drum parameters; the rotating speed of the winding drum is measured by a rotating speed sensor of the lifting winding drum, and the winding drum parameter mainly refers to the diameter parameter of the winding drum.
105B, calculating the winding and unwinding length of the steel wire rope according to the number of rotation turns of the winding drum, winding parameters of the steel wire rope on the winding drum and the diameter size of the steel wire rope;
and 105C, calculating the vertical height of the lifting hook from the center of the winding drum according to the retracting length of the steel wire rope, the length of the arm support, the angle of the arm support, the structural size of the crane and the winding rate of the lifting hook, and taking the vertical height as the lifting height of each lifting hook of the crane. The length of the arm support is measured by an arm support length sensor, and the angle of the arm support is measured by an arm support angle sensor.
The embodiment can measure the height of the lifting hook in real time by utilizing the existing detection part on the crane, has accurate calculation, can improve the synchronism of the lifting speed of each lifting hook during multi-machine operation, and ensures the stability of the position of the lifting weight.
Further, before the hoisting operation, still referring to fig. 6, the operation method of the present invention further includes:
and 106, determining the height of the hook of each crane as the base point position when the hoisting weight is just hoisted. As shown in fig. 1, the hoist is about to be hoisted, that is, the weight is separated from the ground or other supporting surfaces such as platforms, and at this time, the connection rope between the hook of each crane and the hoist keeps a straight state, and the hook begins to bear a force.
Step 106 is executed in the process of executing step 105, when the hook is just hooked on the hoisting rope, the rope is in a loose state, before the hoisting of the hoisting crane starts, a smaller initial speed can be given to the hoisting drum first, so that the rope is gradually straightened, in the process, each machine can calculate the height of the hook of the machine according to steps 105A-105C, when the hoisting crane is about to be hoisted, the rope is in a straightened state, and the hook starts bearing the force. Because the models and the use working conditions of all cranes are not necessarily the same, the positions of the lifting hooks of all cranes are different when the lifting weight is just lifted.
Specifically, in step 106, it can be determined that the hoist is just off the ground in the following manner.
Firstly, manual judgment: when the hoisting weight is just hoisted, after the operator of each machine confirms that the hoisting weight is correct, the height value of the lifting hook at the moment is used as the base point position of the lifting hook by each machine.
Secondly, automatic judgment: the current value of the lifting drum driving mechanism is detected in real time, when the sling just leaves the ground, the lifting hook begins to bear force, the current of the driving mechanism is suddenly increased, and if the increase amplitude of the current exceeds a preset value, the sling can be judged to be located at the position just leaving the ground.
Due to the different hoisting capacities of the cranes, the hook positions of the cranes may not be at the same height position when the crane is just hoisted, and thus each crane corresponds to one base point position. The embodiment is beneficial to accurately obtaining the real-time position of the lifting hook in the lifting operation process by determining the base point position of each crane, and the lifting synchronism of the lifting hook of each crane can be ensured only by ensuring that the lifting hook of each crane moves relative to the base point position by the same displacement in the lifting operation process, so that the lifting weight is kept in a stable horizontal state, and the risk of arm folding or tipping of the crane caused by the inclination of the lifting weight is reduced.
In the process of lifting operation, still referring to fig. 6, the operation method of the present invention further includes:
and step 107, calculating the relative variation of the height of the hook of the crane relative to the base point position by each crane to be used as the lifting height of the hook of the crane relative to the base point position.
Step 107 is executed in real time during the lifting operation and after step 106, after the lifting height of the lifting hook of the machine relative to the base point position is calculated by each machine, the lifting height of each machine is obtained by the host through step 103, and the target lifting speed of each machine is recalculated according to the lifting height condition of each machine at present. The lifting height calculated in step 107 is an important parameter in the lifting condition information, and the consistency of the height difference of the lifting hook height of each machine relative to the position of each base point can be most directly maintained through fixed length control, so that the occurrence of unbalance loading is prevented.
In one embodiment, as shown in the flowchart of fig. 7, the step 104 of controlling the local crane to operate at the corresponding target hoisting speed by each crane specifically includes:
104A, each crane receives the target lifting speed sent by the host;
104B, obtaining an electric signal value required by the lifting execution mechanism of the crane by each crane according to the target lifting speed;
and step 104C, controlling the lifting execution mechanism of the crane to operate by each crane through corresponding electric signals.
Wherein, the steps 104A to 104C are executed in sequence, the lifting executing mechanism comprises a lifting hydraulic pump and a lifting hydraulic electromagnetic valve, the rotating speed of the lifting hydraulic pump is controlled by an engine, and the electric signal can be a voltage signal or a current signal. The rotating speed of the lifting hydraulic pump connected with the engine can be adjusted by adjusting the rotating speed of the engine, so that the output power and the flow of the lifting hydraulic pump are adjusted, and the speed of the lifting mechanism is adjusted. In addition, adjusting the engine speed simultaneously adjusts the engine output torque and power to match the hydraulic system.
In the embodiment, the lifting speed of the lifting hook is used as a process control parameter for each crane, the lifting height of the lifting hook is used as a target control parameter, the lifting height of the lifting hook can directly reflect the state of the lifting weight, each crane feeds the lifting height of the lifting hook in the lifting process back to the host in real time, and the host determines the target lifting speed of each crane again according to the current state, which is equivalent to controlling the lifting process in a closed-loop control mode, so that the consistency of the lifting speed of each lifting hook can be ensured more accurately, the control precision is improved, and the safety of lifting operation is further improved.
In another embodiment of the present invention, as shown in the flowchart of fig. 8, the operation method further includes:
step 202, each crane is caused to perform a shutdown operation.
The embodiment can timely stop the lifting operation of the crane when the data is abnormal so as to timely eliminate the problem and ensure the safety of the lifting process.
Further, if it is determined that the data is abnormal, the step 202 of executing the shutdown operation specifically includes:
and step 202B, reducing the lifting speed of each crane until stopping, or outputting a signal for resetting. After each crane receives a target lifting speed zero clearing reset signal sent by the host, each crane respectively controls an executing mechanism of the crane to decelerate and stop running, and a safety protection mechanism is established.
Further, still referring to fig. 8, if it is determined that the data is abnormal, the operation method further includes:
and step 203, carrying out alarm prompt.
Step 203 and step 202 may be executed simultaneously or sequentially, but the execution order is not limited. Specifically, the operator can be informed by an audible and visual alarm to draw the attention of the operator, so that the safety protection mechanism is further strengthened.
In step 201, the data existing exception includes at least one of the following cases:
(1) the lifting height deviation of the lifting hook of each crane relative to the position of the corresponding base point exceeds a preset height difference. If the preset height difference is exceeded, the inclination amount of the hoisting weight exceeds the safety range, and unbalance loading can be caused, so that the crane is dangerous.
(2) The hoisting weight of each crane exceeds the rated hoisting weight of the crane. If the weight of the crane exceeds the rated crane weight, the reliability of the crane operation is affected, and the danger of the breakage of the crane arm or the overturn of the whole crane occurs. Whether each crane is overloaded or not is judged by each crane, and the host can directly read the overload fault information of the crane under the condition of overload.
(3) Communication connection failure, such as loss of wireless signal, etc.
The embodiment monitors the abnormal condition of data, namely performs fixed length and fixed force control in the lifting process, and prevents unbalance loading and improves the safety of cooperative lifting operation by keeping the consistency of the height difference of the lifting hook of each lifting mechanism relative to the position of each base point and monitoring the lifting weight of each crane within the range of rated lifting weight.
Further, if the data of each crane is judged to be normal, before the lifting operation is executed, the operation method further comprises the following steps:
each crane reads a control signal which allows the crane to carry out lifting operation.
When the crane weight is judged to be off the ground, if the data of each machine is normal, the operator of each machine needs to confirm that the lifting operation can be started through manual operation, and an enabling trigger signal is generally given through a control handle. The link is mainly considered from the safety perspective, and because the actual hoisting operation environment is relatively complex, the observation angles of operators of all machines are different, and whether the hoisting condition is met or not can be comprehensively judged. Compared with a one-key operation and full-automatic control mode, when abnormal conditions affecting lifting operation occur, the lifting operation can be stopped manually by an operator, and the control system senses the operation environment by a sensor, so that the accident condition which cannot be judged can exist.
With the above embodiment, as shown in fig. 6, the working method of the present invention further includes:
and 101A, starting the lifting coordination function of each crane.
firstly, each crane is internally provided with an operation button, the operation buttons are independently operated and started by operators of the cranes to perform manual confirmation, and the working conditions of the cranes can be more comprehensively observed through operation of multiple operators, so that the safety of cooperative operation is improved.
Secondly, for the embodiment of establishing wireless communication connection for each crane, as each crane is provided with a wireless communication module, the operation can be completed by opening a switch on the wireless remote control equipment, and the operation can be completed by one operator, so that the operation is more convenient.
In the process of lifting operation, in order to ensure that the jib head and the hoisting weight are basically kept at the same position in the vertical direction, the jib of the crane can have the function of amplitude variation compensation, and in the process of lifting, the working amplitude change caused by the deformation of the jib can be automatically compensated, so that the lifting hook applies vertical upward lifting force to the hoisting weight, the lateral force can be reduced, and the stable lifting state is ensured.
Secondly, the invention provides a multi-crane cooperative lifting operation device, which in an exemplary embodiment comprises a communication module, a role selection module, a lifting speed determination module and a lifting control module, wherein:
and the communication module is arranged on each crane and used for establishing communication connection among the cranes so as to realize data sharing and instruction transmission among the cranes. The communication module can be a wired communication module, and the cranes can be connected through cables before the hoisting task is executed. Or the communication module may be a wireless communication module, and establishing a communication connection in a wireless manner includes: the wireless transmitting module is used for transmitting data information to other cranes; and the wireless receiving module is used for receiving the control information and the data information sent by other cranes.
And the role selection module is used for selecting one crane from the cranes as a master machine, and all other cranes are used as slave machines. Preferably, the crane with a large hoisting weight is used as a master, and the other cranes are used as slaves, but the selection method is not limited to this.
And the lifting speed determining module is arranged on the host and used for calculating the target lifting speed of each crane according to the lifting working condition information of each crane acquired in the lifting operation.
And the lifting control modules are arranged on the cranes and used for enabling the cranes to control the local machine to operate at the corresponding target lifting speed.
According to the multi-crane cooperative lifting operation device provided by the embodiment of the invention, data sharing among the cranes is realized through communication connection, lifting height and other working condition information of the lifting hook of each crane can be obtained in real time, and the information acquisition instantaneity is better. And the host machine is used for unified command, the distributed control mode of each machine is beneficial to the coordination among the machines, the condition of wrong command is not easy to occur, the synchronous lifting speed of the lifting hook during the operation of multiple machines can be realized, the relative stability of the position of the lifting weight is ensured, the unbalance loading of the lifting weight is prevented, the lifting weight shared by each crane in the lifting operation process does not exceed the rated lifting weight, the possibility of dangers such as breakage or tipping of the lifting arm is reduced, and the working efficiency and the lifting safety can be improved. In addition, the crane has high automation degree of cooperative operation, can reduce the labor cost and reduce the labor intensity.
Furthermore, the operation device of the invention also comprises a lifting working condition determining module which is arranged on each crane and used for determining the lifting working condition information of the machine, so that the lifting speed determining module on the host computer can calculate the target lifting speed of each crane. Reference may be made to the method given above in determining the height of the hook.
Preferably, the lifting condition information comprises at least one of the following parameters: the system comprises an arm support working type, an arm support length, a lifting hook height, a rated lifting weight, an actual lifting weight, a working amplitude, an arm head height, a moment percentage, a lifting weight early warning alarm, a lifting weight overload alarm and fault information. Wherein, the cantilever crane work type includes: the main arm works independently, the main arm and the auxiliary arm work together, and the main arm, the auxiliary arm and the super boom work together.
In another embodiment, the working device of the present invention further includes a base point determining module provided on each crane, for determining a height of a hook of the machine as a respective base point position when the hoist is just hoisted.
Due to the different hoisting capacities of the cranes, the hook positions of the cranes may not be at the same height position when the crane is just hoisted, and thus each crane corresponds to one base point position. According to the embodiment, the base point position of each crane is determined, so that the real-time position of the lifting hook in the lifting operation process can be accurately obtained, the lifting synchronism of the lifting hook of each crane can be ensured only by ensuring that the lifting hook of each crane moves relative to the base point position by the same displacement in the lifting operation process, and the lifting weight is kept in a stable horizontal state, as shown in fig. 4, the risk of arm folding or tipping of the crane caused by the inclination of the lifting weight is reduced.
In a further embodiment, the working device of the present invention further includes a hoisting height determining module provided on each crane for calculating a hoisting height of the local hook relative to a position corresponding to the base point during a hoisting operation.
The calculated lifting height is an important parameter in lifting working condition information, and the consistency of the height difference of the lifting hook of each machine relative to the position of each base point can be most directly maintained through fixed-length control, so that the occurrence of unbalance loading is prevented.
Specifically, the hoisting control module comprises:
the hoisting speed receiving module is used for enabling each crane to receive the target hoisting speed sent by the host;
the control signal determining module is used for enabling each crane to obtain an electric signal value required by the lifting executing mechanism of the crane according to the target lifting speed; and
and the lifting speed control module is used for controlling the lifting execution mechanism of the crane to operate through corresponding electric signals.
The lifting executing mechanism comprises a lifting hydraulic pump and a lifting hydraulic electromagnetic valve, the rotating speed of the lifting hydraulic pump is controlled by the engine, and the electric signal can be a voltage or current signal. The rotating speed of the lifting hydraulic pump connected with the engine can be adjusted by adjusting the rotating speed of the engine, so that the output power and the flow of the lifting hydraulic pump are adjusted, and the speed of the lifting mechanism is adjusted. In addition, adjusting the engine speed simultaneously adjusts the engine output torque and power to match the hydraulic system.
Further, the working device of the present invention further includes:
the data abnormity judging module is arranged on each crane and used for judging whether the data of the crane is abnormal or not; and
and the shutdown control module is arranged on each crane and used for enabling the local machine to execute shutdown operation under the condition that the data abnormity judgment module judges that the local machine data is abnormal.
The embodiment can timely stop the lifting operation of the crane when the data is abnormal so as to timely eliminate the problem and ensure the safety of the lifting process.
Wherein the data presence anomaly comprises at least one of: the lifting height deviation of the lifting hook of each crane relative to the position of the corresponding base point exceeds a preset height difference; the hoisting weight of each crane exceeds the rated hoisting weight of the crane; and communication connection failures such as loss of wireless signals.
The abnormal condition of the monitoring data is equivalent to the fixed length and fixed force control in the lifting process, the unbalance loading is prevented by keeping the consistency of the height difference of the lifting hook of each lifting mechanism relative to the position of each base point and monitoring the lifting weight of each crane within the range of the rated lifting weight, and the safety of the cooperative lifting operation is improved.
Furthermore, the operation device of the invention also comprises an alarm module which is arranged on each crane and used for giving an alarm prompt when the data abnormity judgment module judges that the data of the machine is abnormal. The alarm can inform the operator through the audible and visual alarm to draw the attention of the operator and further strengthen the safety protection mechanism.
From the viewpoint of improving safety, the working device of the present invention further includes: and the lifting confirmation buttons are arranged on the cranes and used for receiving external control signals to allow the cranes to carry out lifting operation before the data abnormity judgment module judges that the data of the cranes are normal and the lifting speed determination module of the host calculates the target lifting speed of each crane.
When the crane weight is judged to be off the ground, if the data of each machine is normal, the operator of each machine needs to confirm that the lifting operation can be started through manual operation, and an enabling trigger signal is generally given through a control handle. The link is mainly considered from the safety perspective, and because the actual hoisting operation environment is relatively complex, the observation angles of operators of all machines are different, and whether the hoisting condition is met or not can be comprehensively judged.
Further, the working device of the present invention further includes: the vehicle-mounted man-machine interaction system is arranged in each crane and used for switching the machine between a multi-machine operation mode and a single-machine operation mode so as to realize a lifting coordination function when each crane is switched to the multi-machine operation mode.
In a specific embodiment, when multiple cranes work cooperatively, multi-crane data interconnection is realized through a wireless communication module; switching between a multi-machine operation mode and a single-machine mode is realized through a vehicle-mounted man-machine interaction system, and each crane selects respective role, a host or a slave; lifting condition information such as the height of a lifting hook, the rated lifting weight, the actual lifting weight and the like is calculated through a lifting condition determining module; the host machine comprehensively calculates the target lifting speed of each crane by acquiring lifting working condition information such as the lifting height, the rated lifting weight, the actual lifting weight and the like of lifting hooks of the host machine and each slave machine in real time; and each crane controls the speed of each hoisting mechanism according to the target hoisting speed, so that the relative stability of the hoisting position is ensured. When a large deviation occurs, the speed is automatically reduced, the action is stopped, and the sound and light alarm is given out.
Fig. 9 shows a schematic diagram of the cooperative operation of two cranes. The module compositions of the two cranes related to the cooperative lifting operation device can be kept consistent. Each crane is provided with a controller, and the controller is connected with the wireless transceiver and used for sharing data and transmitting signals among the cranes; the controller is connected with the boom length sensor, the boom angle sensor and the lifting drum rotating speed sensor and is used for calculating the lifting height of the lifting hook according to detection signals of the sensors; the controller is connected with the display and is used for displaying the lifting working condition information of each crane in real time; the controller is connected with the audible and visual alarm and is used for giving an alarm when data are abnormal; the controller is connected with the engine controller, the lifting hydraulic pump and the lifting hydraulic electromagnetic valve and is used for controlling the execution mechanisms of all the machines related to lifting operation to operate according to instructions (engine speed/lifting hook lifting/lifting hook falling/stopping operation and the like) according to the target lifting speed sent by the host machine.
Finally, the invention also provides a crane which comprises the multi-crane cooperative lifting operation device. The crane can realize synchronization of lifting speeds of the lifting hooks during multi-machine operation, ensures that the lifting positions are relatively stable, prevents the lifting weights from generating unbalance loading, ensures that the lifting forces shared by the cranes in the lifting operation process do not exceed the rated lifting weight, reduces the possibility of dangers such as breakage or tipping of the lifting arms and the like, and can improve the working efficiency and the lifting safety.
The method, the device and the crane for the multi-crane cooperative lifting operation provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to aid in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (23)
1. A multi-crane cooperative lifting operation method is characterized by comprising the following steps:
establishing communication connection among cranes;
selecting one crane as a master machine from all cranes, and using the other cranes as slave machines;
in the process of lifting operation, the host machine acquires lifting working condition information of each crane, and calculates the target lifting speed of each crane according to the lifting working condition information, wherein the lifting working condition information comprises at least one of the following parameters: the boom working type, the boom length, the hook height, the rated hanging weight, the actual hanging weight, the working amplitude, the boom head height, the moment percentage, the hanging weight early warning alarm, the hanging weight overload alarm and the fault information;
each crane controls the machine to run at a corresponding target lifting speed, and automatically compensates working amplitude change caused by the deformation of the suspension arm in the lifting operation process so that the lifting hook applies a vertical upward lifting force to the lifting weight;
and each crane judges whether the data of the crane is abnormal or not, if so, each crane executes shutdown operation, otherwise, the host calculates the target lifting speed of each crane.
2. The multi-crane cooperative lifting operation method according to claim 1, wherein the communication connection between the cranes is a wireless communication connection.
3. The multi-crane cooperative lifting operation method according to claim 1, further comprising:
and each crane respectively calculates the height of the hook of the crane.
4. The multi-crane cooperative lifting operation method according to claim 3, further comprising, before the lifting operation:
the height of the hook of each crane when the hoisting weight is just hoisted is determined as the position of each base point.
5. The multi-crane cooperative lifting operation method according to claim 4, further comprising, during the lifting operation:
and each crane respectively calculates the relative variation of the height of the lifting hook of the crane relative to the base point position as the lifting height of the lifting hook of the crane relative to the base point position.
6. The multi-crane cooperative hoisting operation method according to claim 3, wherein the step of calculating the height of the local crane hook specifically comprises:
calculating the number of rotation turns of the winding drum according to the rotation speed of the winding drum and the winding drum parameters;
calculating the winding and unwinding length of the steel wire rope according to the number of rotation turns of the winding drum, winding parameters of the steel wire rope on the winding drum and the diameter size of the steel wire rope;
and calculating the vertical height of the lifting hook from the center of the drum according to the retracting length of the steel wire rope, the length of the arm support, the angle of the arm support, the structural size of the crane and the winding rate of the lifting hook, and taking the vertical height as the lifting height of each crane lifting hook.
7. The multi-crane cooperative lifting operation method according to claim 1, wherein the step of controlling the local machine to operate at the corresponding target lifting speed by each crane specifically comprises:
each crane receives the target lifting speed sent by the host;
each crane obtains an electric signal value required by the lifting actuating mechanism of the crane according to the target lifting speed;
each crane controls the lifting actuating mechanism of the crane to operate through corresponding electric signals.
8. The multi-crane cooperative lifting operation method according to claim 1, wherein if it is determined that the data is abnormal, the step of performing the stop operation includes:
the host machine resets the target lifting speed of the host machine and each slave machine in a zero clearing way;
the hoisting speed of each crane is reduced until stopped.
9. The multi-crane cooperative hoisting operation method according to claim 1, wherein the data abnormality includes at least one of:
the lifting height deviation of the lifting hook of each crane relative to the position of the corresponding base point exceeds a preset height difference; and
the hoisting weight of each crane exceeds the rated hoisting weight of the crane.
10. The multi-crane cooperative lifting operation method according to claim 1, wherein if it is determined that the data is abnormal, the method further comprises:
and carrying out alarm prompt.
11. The method for the multi-crane cooperative lifting operation according to claim 1, wherein if the data is determined to be normal, before the lifting operation is performed, the method further comprises:
each crane reads a control signal which allows the crane to carry out lifting operation.
12. The method for the cooperative lifting operation of a plurality of cranes as claimed in claim 1, wherein before the step of selecting one crane as a master and the other cranes as slaves, the method further comprises the steps of:
and starting the lifting coordination function of each crane.
13. The utility model provides a many cranes rise operation device in coordination which characterized in that includes:
the communication module is arranged on each crane and used for establishing communication connection among the cranes;
the role selection module is used for selecting one crane from the cranes as a master machine, and the other cranes as slave machines;
the lifting speed determining module is arranged on the host and used for calculating the target lifting speed of each crane according to the lifting working condition information of each crane acquired in the lifting operation, wherein the lifting working condition information comprises at least one of the following parameters: the boom working type, the boom length, the hook height, the rated hanging weight, the actual hanging weight, the working amplitude, the boom head height, the moment percentage, the hanging weight early warning alarm, the hanging weight overload alarm and the fault information;
the lifting control module is arranged on each crane and used for enabling each crane to control the local machine to run at a corresponding target lifting speed and automatically compensating working amplitude change caused by the deformation of the suspension arm in the lifting operation process so as to enable the lifting hook to apply a vertically upward lifting force to the lifting weight;
the data abnormity judging module is arranged on each crane and used for judging whether the data of the crane is abnormal or not; and
and the stopping control module is arranged on each crane and used for enabling the crane to execute stopping operation when the data abnormity judgment module judges that the data of the crane is abnormal, otherwise, the host computer calculates the target lifting speed of each crane.
14. The multi-crane cooperative lifting operation device according to claim 13, further comprising:
and the lifting working condition acquisition module is arranged on each crane and used for determining the lifting working condition information of the crane.
15. The multi-crane cooperative lifting operation device according to claim 13, wherein the communication module comprises:
the wireless transmitting module is used for transmitting data information to other cranes; and
and the wireless receiving module is used for receiving the control information and the data information sent by other cranes.
16. The multi-crane cooperative lifting operation device according to claim 13, further comprising:
and the base point determining module is arranged on each crane and is used for determining the height of a lifting hook of the crane when the hoisting weight is just hoisted as the position of each base point.
17. The multi-crane cooperative lifting operation device according to claim 16, further comprising:
and the lifting height determining module is arranged on each crane and used for calculating the lifting height of the lifting hook of the crane relative to the position of the corresponding base point in the lifting operation process.
18. The multi-crane cooperative lifting operation device of claim 13, wherein the lifting control module comprises:
the hoisting speed receiving module is used for enabling each crane to receive the target hoisting speed sent by the host;
the control signal determining module is used for enabling each crane to obtain an electric signal value required by the lifting executing mechanism of the crane according to the target lifting speed; and
and the lifting speed control module is used for controlling the lifting execution mechanism of the crane to operate through corresponding electric signals.
19. The multi-crane cooperative lifting operation apparatus according to claim 13, wherein the data presence anomaly comprises at least one of:
the lifting height deviation of the lifting hook of each crane relative to the position of the corresponding base point exceeds a preset height difference; and
the hoisting weight of each crane exceeds the rated hoisting weight of the crane.
20. The multi-crane cooperative lifting operation device according to claim 13, further comprising:
and the alarm module is arranged on each crane and used for giving an alarm prompt when the data abnormity judgment module judges that the data of the crane is abnormal.
21. The multi-crane cooperative lifting operation device according to claim 13, further comprising:
and the lifting confirmation buttons are arranged on the cranes and used for receiving external control signals to allow the cranes to carry out lifting operation before the data abnormity judgment module judges that the data of the cranes are normal and the lifting speed determination module of the host calculates the target lifting speed of each crane.
22. The multi-crane cooperative lifting operation device according to claim 13, further comprising:
the vehicle-mounted man-machine interaction system is arranged in each crane and used for switching the machine between a multi-machine operation mode and a single-machine operation mode so as to realize a lifting coordination function when each crane is switched to the multi-machine operation mode.
23. A crane comprising the multi-crane cooperative lifting operation apparatus according to any one of claims 13 to 22.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810119965.0A CN108328478B (en) | 2018-02-07 | 2018-02-07 | Multi-crane cooperative lifting operation method and device and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810119965.0A CN108328478B (en) | 2018-02-07 | 2018-02-07 | Multi-crane cooperative lifting operation method and device and crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108328478A CN108328478A (en) | 2018-07-27 |
| CN108328478B true CN108328478B (en) | 2020-06-19 |
Family
ID=62926960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810119965.0A Active CN108328478B (en) | 2018-02-07 | 2018-02-07 | Multi-crane cooperative lifting operation method and device and crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108328478B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109358549B (en) * | 2018-11-01 | 2020-11-03 | 三一重机有限公司 | Intelligent control method and device for excavator |
| CN109095356B (en) * | 2018-11-07 | 2024-03-01 | 江苏徐工国重实验室科技有限公司 | Engineering machinery and operation space dynamic anti-collision method, device and system thereof |
| CN109279509A (en) * | 2018-12-13 | 2019-01-29 | 徐州重型机械有限公司 | Multi-machine collaborative lifting operation methods, devices and systems, crane and storage medium |
| CN110577149A (en) * | 2019-08-16 | 2019-12-17 | 江西飞尚科技有限公司 | Real-time control device for synchronous hoisting of multiple cranes and control method thereof |
| US11884518B2 (en) | 2020-01-31 | 2024-01-30 | Caterpillar Inc. | Systems and methods for distance control between pipelayers |
| CN112110343B (en) * | 2020-09-30 | 2022-03-22 | 江苏宏昌天马物流装备有限公司 | Multi-machine intelligent cooperative control method for folding arm crane based on 5G network |
| CN112320595B (en) * | 2020-11-03 | 2023-05-12 | 北京云中未来科技有限公司 | Balance operation method for multi-lifting-point combined lifting wall cylinder of multiple cranes |
| CN113830679B (en) * | 2021-09-14 | 2024-02-09 | 济南轨道交通集团有限公司 | Multiple track flat crane reconnection hardware circuit control system and working method |
| CN114217606A (en) * | 2021-11-15 | 2022-03-22 | 武汉港迪智能技术有限公司 | Portal crane remote intelligent control system and method thereof |
| CN113979312A (en) * | 2021-11-22 | 2022-01-28 | 徐州建机工程机械有限公司 | Operating system and operating method of multi-mechanism tower crane |
| CN114084799A (en) * | 2021-11-22 | 2022-02-25 | 徐州建机工程机械有限公司 | Triple protection system and method for multi-lifting synchronous safety control of tower crane |
| CN115353005B (en) * | 2022-08-16 | 2023-09-29 | 江苏苏港智能装备产业创新中心有限公司 | Crane constant power lifting speed control method and system based on lifting weight |
| CN115268347B (en) * | 2022-09-28 | 2023-01-06 | 山西航天清华装备有限责任公司 | Remote control transfer trolley and control system and method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000240605A (en) * | 1999-02-22 | 2000-09-05 | Yutani Heavy Ind Ltd | Synchronization controller for hydraulic actuator |
| CN202390099U (en) * | 2011-11-25 | 2012-08-22 | 重庆起重机厂有限责任公司 | Crane parallel operation control system |
| CN103226740A (en) * | 2013-04-27 | 2013-07-31 | 中南大学 | Load distribution optimization method of double-crane collaborative operation |
| CN103781718A (en) * | 2011-08-26 | 2014-05-07 | 德马格起重机及部件有限公司 | Method and control assembly for operating at least two lifting devices, in particular cranes, in parallel |
| CN103863948A (en) * | 2014-03-24 | 2014-06-18 | 合肥工业大学 | Navigation control device and navigation control method applicable to collaborative transportation of cranes |
| CN204751975U (en) * | 2015-07-29 | 2015-11-11 | 山东省特种设备检验研究院泰安分院 | Novel many hoists lift by crane supplementaryly in coordination device |
| CN105110191A (en) * | 2015-07-28 | 2015-12-02 | 三一汽车起重机械有限公司 | Double-machine cooperative lifting control method and system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI444939B (en) * | 2008-01-10 | 2014-07-11 | Univ Nat Taiwan | A crane simulation method and system |
-
2018
- 2018-02-07 CN CN201810119965.0A patent/CN108328478B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000240605A (en) * | 1999-02-22 | 2000-09-05 | Yutani Heavy Ind Ltd | Synchronization controller for hydraulic actuator |
| CN103781718A (en) * | 2011-08-26 | 2014-05-07 | 德马格起重机及部件有限公司 | Method and control assembly for operating at least two lifting devices, in particular cranes, in parallel |
| CN202390099U (en) * | 2011-11-25 | 2012-08-22 | 重庆起重机厂有限责任公司 | Crane parallel operation control system |
| CN103226740A (en) * | 2013-04-27 | 2013-07-31 | 中南大学 | Load distribution optimization method of double-crane collaborative operation |
| CN103863948A (en) * | 2014-03-24 | 2014-06-18 | 合肥工业大学 | Navigation control device and navigation control method applicable to collaborative transportation of cranes |
| CN105110191A (en) * | 2015-07-28 | 2015-12-02 | 三一汽车起重机械有限公司 | Double-machine cooperative lifting control method and system |
| CN204751975U (en) * | 2015-07-29 | 2015-11-11 | 山东省特种设备检验研究院泰安分院 | Novel many hoists lift by crane supplementaryly in coordination device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108328478A (en) | 2018-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108328478B (en) | Multi-crane cooperative lifting operation method and device and crane | |
| US4752012A (en) | Crane control means employing load sensing devices | |
| CN107406241B (en) | Crane lifting system | |
| CN113213343B (en) | Tower crane lifting amplitude-changing process state control system and method based on dynamic data acquisition | |
| CN113233334A (en) | Straight arm type lorry-mounted crane control system and control method thereof | |
| CN111056439A (en) | Crane anti-swing method based on machine vision | |
| CN102295236A (en) | Double gantry crane lifting device | |
| CN102774757A (en) | Engineering machinery | |
| JP3402771B2 (en) | Crane load monitor | |
| CN103318778B (en) | Double; two arm movable arm tower cranes and control method thereof | |
| CN115402934B (en) | Control system and control method of girder erection crane | |
| CN115676635B (en) | Double-small-axle crane with hook capable of being connected | |
| CN204416974U (en) | A kind of ground observation control system of tower crane | |
| CN108715410B (en) | Intelligent arm lifting and arm falling control device and control method for tower condition of crawler crane | |
| CN109179209B (en) | Anti-swing method for crane sling | |
| JPH09118492A (en) | Automatic aligning hoisting accessory | |
| US10850953B2 (en) | Lifting device, in particular a mobile crane or a cable-operated excavator, having an apparatus for monitoring the raising and lowering procedures of a boom system and corresponding method | |
| CN202245826U (en) | Lifting device with double gantry cranes | |
| CN113979344B (en) | Lifting driving system and method for tower crane four-linkage ultra-large lifting capacity | |
| CN114014164A (en) | Vertical control system and control method for crane hook | |
| CN115043338B (en) | Safety control method and system of hoisting equipment | |
| CN211647241U (en) | Attached lifting scaffold early warning control system | |
| JPH08277094A (en) | Automatic aligning hoisting accessory | |
| CN108792943B (en) | Hoisting device with coaxial parallel hoisting and crane and engineering machinery | |
| CN112299251A (en) | Improved arm with two or more hooks |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 221004 Jiangsu city of Xuzhou Province Economic and Technological Development Zone of High Road No. 68 Applicant after: Xuzhou Heavy Machinery Co.,Ltd. Address before: 221004 No. 165 Copper Mountain Road, Jiangsu, Xuzhou Applicant before: Xuzhou Heavy Machinery Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |