CN110077964A - A kind of more car body row crane systems of single-beam and its progress control method - Google Patents
A kind of more car body row crane systems of single-beam and its progress control method Download PDFInfo
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- CN110077964A CN110077964A CN201910261305.0A CN201910261305A CN110077964A CN 110077964 A CN110077964 A CN 110077964A CN 201910261305 A CN201910261305 A CN 201910261305A CN 110077964 A CN110077964 A CN 110077964A
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- China
- Prior art keywords
- row
- trolley
- hangs
- crane
- cart
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- 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
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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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
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/04—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports with lifting beams, e.g. slewable beams, carrying load-engaging elements, e.g. magnets, hooks
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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
- B66C2700/00—Cranes
- B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
Abstract
The present invention provides a kind of more car body row crane systems of single-beam and its control method and fault handling method, which includes: the operational order that by the row crane system for the more car bodies of single-beam that the control system receives the input of remote control end target structures are executed with nominated bank's crane operation；The row in the row crane system is hung into the operating area that cart moves to the target structures based on the operational order；One or more rows are chosen in the row crane system and hang trolley, and trolley is hung by the control one or more rows and is performed in unison with nominated bank's crane operation.The walking path that row hangs cart and row hangs trolley can be accurately controlled based on offer scheme of the present invention, target structures are executed with set process operation, and the failure being likely to occur in multirow crane system is efficiently treated through.
Description
Technical field
The present invention relates to row crane technical fields, control more particularly to a kind of more car body row crane systems of single-beam and operation
Method.
Background technique
It generally will use row in existing building work progress and hang the carrying that (crane hangs loading material) realizes material；Climbing frame is then
It is one of essential equipment in building construction process, it is in construction that climbing frame, which can climb or decline along on building,
Safe and reliable job platform.
Traditional row crane generally hangs cart by the row for single-bicycle body and carries out operation, and there has been no the carts of more car bodies to be joined
Act industry；It lifts up into row operation moreover, how to control multiple rows to promote operating efficiency low, the problems such as avoiding waste of resource, be urgently then
Problem to be solved.
Summary of the invention
In view of the above problems, overcome the above problem the present invention provides a kind of or at least be partially solved the above problem
A kind of more car body row crane systems of single-beam and its control method and fault handling method.
According to an aspect of an embodiment of the present invention, a kind of more car body row crane systems of single-beam are provided, comprising:
Control system, a line, which hangs cart and is movably set to multiple rows that the row is hung on cart, hangs trolley；Its
In,
The row hangs cart and includes two horizontal guide rails being arranged in parallel on climbing frame and be erected at two horizontal guide rails
Between and can be along the crossbeam that horizontal guide rail moves；
The row hangs that trolley is movable along longitudinal direction to be set to the row and hang on the crossbeam of cart, hangs object for carrying row；
The row hangs trolley and communicates to connect respectively with the control system, and realizes row crane operation by the control coordinated movement of various economic factors.
Optionally, the row hangs and is equipped with telescopic rod on trolley along the vertical direction, and the telescopic rod is equipped with mechanical arm, described
Mechanical arm is for connecting end effector.
Optionally, the row hangs trolley equipped with image collecting device mechanical arm, on described image acquisition device mechanical arm
Equipped with image collecting device, described image acquisition device is electrically connected with the control system, and passes through described image acquisition device
Mechanical arm realizes that multi-angle is taken pictures.
Optionally, the row hangs trolley at least one end equipped with sensor, and the sensor is hung for detecting the adjacent row
The distance of trolley is to limit the operation that the adjacent row hangs trolley.
According to another aspect of the present invention, a kind of control method of more car body row crane systems of single-beam is additionally provided, is answered
For the more car body row crane systems of single-beam described in any of the above embodiments, which comprises
The row crane system for the more car bodies of single-beam of remote control end input is received to target by the control system
Building executes the operational order of nominated bank's crane operation；
The row in the row crane system is hung into the operation area that cart moves to the target structures based on the operational order
Domain；
One or more rows are chosen in the row crane system and hang trolley, hang trolley collaboration by controlling the one or more rows
Execute nominated bank's crane operation.
Optionally, described row to hang cart in the row crane system based on the operational order and move to the target structures
Operating area, comprising:
Three-dimensional system of coordinate is constructed by way of laser navigation, and the operational order is analyzed and is determined to the mesh
Mark building executes the operating area of nominated bank's crane operation；
Based on the three-dimensional system of coordinate and the operating area determine the row hang cart the first walking path and/or
The row hangs the second walking path of trolley；
According to first walking path and/or the second walking path control the row hang cart and/or row hang trolley into
Row movement.
It is optionally, described that three-dimensional system of coordinate is constructed by way of laser navigation, comprising:
The row on cart is hung using row and hangs the direction of motion of trolley as X-axis, and the direction of motion that row hangs cart is Y-axis, telescopic rod
The direction of motion be Z axis construct three-dimensional system of coordinate；
When the row hangs cart and row hangs trolley all in origin position, transmitting laser beam determines origin.
Optionally, described to determine that the row hangs the first row of cart based on the three-dimensional system of coordinate and the operating area
It walks path and/or the row hangs the second walking path of trolley, comprising:
Determine that the row hangs cart and hangs trolley in X-direction and Y to each row respectively based on the three-dimensional system of coordinate
Displacement parameter of the axis direction relative to the operating area, and generate the row and hang the first walking path of cart and/or described
Each row hangs the second walking path of trolley.
Optionally, described to choose one or more rows in the row crane system and hang trolley, by controlling described one or more
Row hangs trolley and is performed in unison with nominated bank's crane operation, comprising:
One or more rows are chosen in the row crane system and hang trolley, determine that each row hangs trolley and holds based on the operational order
At least one end effector when row nominated bank's crane operation；
Corresponding end effector is automatically grabbed by the mechanical arm that each row hangs trolley, is performed in unison with the nominated bank
Crane operation.
Optionally, the mechanical arm for hanging trolley by each row automatically grabs corresponding end effector, and collaboration is held
After row nominated bank's crane operation, further includes:
By described image acquisition device obtain the row hang it is multiple when trolley executes nominated bank's crane operation time
Continuous first image data of angle；
The sequence that trolley executes nominated bank's crane operation is hung based on each row of the first image data harmonization.
Optionally, the mechanical arm for hanging trolley by each row automatically grabs corresponding end effector, and collaboration is held
After row nominated bank's crane operation, further includes:
The multiple row, which is obtained, by described image acquisition device hangs trolley after the completion of nominated bank's crane operation executes
The second image data；
It is detected based on second image data, it is pre- to judge whether the completion status of nominated bank's crane operation meets
Bidding is quasi-；
If the completion status of nominated bank's crane operation meets preset standard, next row crane operation is continued to execute；
If the completion status of nominated bank's crane operation does not meet preset standard, re-executes the nominated bank and hang work
Industry.
Optionally, the method also includes:
If hanging the sensing being arranged on trolley by any one of row in the implementation procedure of nominated bank's crane operation
Device, which detects the presence of to hang with the row, hangs trolley less than neighbour's row of pre-determined distance at a distance from trolley, then the row out of service is hung
Trolley or neighbour's row hang trolley.
Optionally, further includes:
If hanging the sensing being arranged on trolley by any one of row in the implementation procedure of nominated bank's crane operation
Device detects that the row hangs trolley and touches the anticollision device, collision-prevention device that other rows hang trolley, then controls that the row hangs trolley or other rows are hung
Reverse direction operation of the trolley to its original traffic direction.
According to another aspect of the present invention, a kind of troubleshooting side of more car body row crane systems of single-beam is additionally provided
Method is applied to the more car body row crane systems of single-beam described in any of the above embodiments, which comprises
It controls the one or more rows in the control system and hangs each row in trolley and hang trolley and be performed in unison with the nominated bank
During crane operation, the working condition that each row in the row crane system hangs trolley is monitored；
If the row crane system judges that any one row hangs trolley failure during executing nominated bank's crane operation,
Then judge the fault type of the failure；
The failure is handled using preset processing mode based on the fault type.
It is optionally, described that the failure is handled using preset processing mode based on the fault type, comprising:
If judging, the failure belongs to driving class failure, records the row for the failure occur and hangs the current state letter of trolley
Serious warning message is sent after breath, and executes the first default processing movement；
If judging, the failure belongs to end effector class failure, sends general alarm information, and it is default to execute second
Processing movement.
Optionally, the driving class failure includes: that the row hangs the failure that trolley can not walk；
The end effector class failure includes: communication failure, dropout and/or damage of components.
Optionally, the default processing of the execution first, which acts, includes:
The row is hung into trolley and switches to default standby position, at the same using other vacant lines hang trolley hang instead of the row it is small
Vehicle continues operation；
It is described to execute the second default processing movement, comprising: trolley is hung according to row of the alarm priority to failure and is carried out
Repair process, and restart.
Optionally, it is described according to row of the alarm priority to failure hang trolley carry out repair process include:
The end effector that the row of failure hangs trolley is resetted according to alarm priority；And/or
The row of failure is hung into moving of car to default maintenance position and carries out inspection repairing.
The present invention provides a kind of more car body row crane systems of single-beam and fault handling method, which can be with
A part that individually control can also be used as operation is controlled.Pass through three-dimensional system of coordinate based on control method provided by the invention
The row hung on cart of respectively going hangs trolley and determines working region, and precisely forms the walking road that row hangs cart and row hangs trolley
Diameter, target structures are executed with set process operation.And obstacle can also be detected by sensor in the process of implementation
Object, prevents from colliding in driving motion process and influencing row crane operation, carries out matter to row crane operation by image collecting device
The functions such as inspection.In addition, the present invention also provides the fault handling method to row crane system, to different type and different grades of
The different processing mode of fault setting to be efficiently treated through to the failure being likely to occur in row crane system, and then is efficiently completed
Nominated bank's crane operation.
Above-mentioned progress control method and fault handling method do not repel, they can any optimum organization formation controlling party
The composition part of method.
Illustrate be only technical solution of the present invention general introduction, in order to better understand the technical means of the present invention, and can
It is implemented in accordance with the contents of the specification, and in order to make above and other objects of the present invention, feature and advantage brighter
Show understandable, the followings are specific embodiments of the present invention.
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
The above and other objects, advantages and features of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows the structural schematic diagram of the according to embodiments of the present invention one more car body row crane systems of single-beam；
Fig. 2 shows the structural schematic diagrams of the more car body row crane systems of according to embodiments of the present invention two single-beam；
Fig. 3 shows the control method flow diagram of the more car body row crane systems of single-beam according to an embodiment of the present invention；
Fig. 4 shows the fault handling method process signal of the more car body row crane systems of single-beam according to an embodiment of the present invention
Figure.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
The embodiment of the invention provides a kind of more car body row crane systems of single-beam, referring to Fig. 1,2 it is found that the embodiment of the present invention
The row crane system of offer may include: including row hang cart 3, be set to one or more rows that row hangs on cart 3 hang trolley 5 and
Control system, wherein Fig. 1 show a row hang on cart 3 be arranged a row hang trolley 5, row crane system shown in Fig. 2 be one
It includes that multiple rows hang trolley 5 that row, which hangs cart 3,；Wherein, it includes two horizontal guide rails 2 being arranged in parallel on climbing frame 1 that row, which hangs cart 3,
And it is erected between two horizontal guide rails 2 and can be along the crossbeam 31 that horizontal guide rail moves；Specifically, row hangs 3 both ends of cart dress
There is wheel, wheel is stuck on the horizontal guide rail 2 on support rail beam, and guide rail driver and wheel direct connection, guide rail driver drive when starting
Dynamic cart vehicle wheel rotation, drives row to hang cart transverse movement, big when needing row to hang so as to adjust the position of row crane horizontally
When vehicle 3 is out of service, guide rail driver stops cart from strap brake, and row hangs 3 end of cart equipped with the anti-sideslip of directive wheel.
Multiple rows hang trolley 5, and the movable row that is set to is hung on the crossbeam 31 of cart 3 along longitudinal direction, hangs object for carrying row,
Row in the present embodiment hangs object, can be including end effectors such as handgrip, tool fast replacing device and spray guns, can also be with
It is the different item objects etc. of required acquisition when not going together crane operation based on progress acquired in end effector.
In addition multiple rows hang trolley 3 and communicate to connect respectively with control system, and realize row crane operation by the control coordinated movement of various economic factors；
Further, the direction of motion that row hangs the direction of motion of cart 3 and row hangs trolley 5 is mutually perpendicular to, and passes through control system in this way
Allotment may make that row hangs cart 3 and row hangs trolley 5 and can realize that row hangs work on two-dimensional directional (can be regarded as the direction plane X/Y)
Industry, the adjustable full line of the direction of motion that row hangs cart 3 hangs the working path on lateral position of trolley 5, and row hangs the fortune of trolley 5 itself
Dynamic direction can adjust the working path in lengthwise position；Further, to realize more efficient row crane operation, each row hangs small
Vehicle 5 is jointly controlled the coordinated movement of various economic factors according to scheduled walking path between each other and realizes row crane operation；Certainly, each row hangs trolley
5 can also be independently controlled the coordinated movement of various economic factors according to scheduled walking path realizes row crane operation；It is designed, is passed through using above-mentioned row crane
A variety of row crane operations may be implemented in multiple row crane cooperations, improve row crane operation efficiency.
Row is hung is equipped with telescopic rod 6 along the vertical direction on trolley 5；Mechanical arm 7, the mechanical arm 7 are equipped in the bottom of telescopic rod 6
For Multi-shaft mechanical arm, for connecting end effector, end effector needs to can be machine mechanical arm 7 according to practical row crane operation
Tool hand or other equipment；It should be noted that the mechanical arm 7 can replace different ends according to the interconnecting piece of 7 bottom of mechanical arm
Hold actuator.
The embodiment of the invention also provides a kind of control methods of the more car body row crane systems of single-beam, referring to Fig. 3 it is found that originally
The control method of the more car body row crane systems of single-beam that inventive embodiments provide may include:
Step S301 receives the row crane system pair for the more car bodies of single-beam of remote control end input by control system
The operational order of target structures execution nominated bank's crane operation.Wherein, remote control end is the distal end that control is executed to row crane system
Such as motion terminals or fixed terminal, corresponding operation can be inputted according to the different process of different buildings by remote control end and referred to
It enables.If reinforcing bar is bound, steel bar arrangement, wallboard transport, wallboard installation, aluminum dipping form transport, aluminum dipping form installation, concrete distributing, concrete
Floating etc. can transport after row crane system receives the manipulation instruction for different process automatically for different technique orders
Row.Such as flooring is selected to bind, row hangs trolley and can reach designated place switching binder of reinforcing bars and then carry out automatically in specified region
Binding operation, selection transportation, trolley can switch to handgrip help desk personnel's carrying heavy goods, specifically need the function of realizing that can lead to
The actuator for crossing prewritten program and design is realized.
Step S302 is instructed based on aforesaid operations the row in row crane system being hung the operation area that cart moves to target structures
Domain.
Row crane system, which receives to analyze it after the operational order from remote control end, judges corresponding work
Skill type and then the intelligent construction of progress.Due to row crane system provided in this embodiment be expert at hang be provided on cart multiple rows hang it is small
Therefore vehicle constructs three-dimensional system of coordinate it is possible to further first pass through the mode of laser navigation, divide aforesaid operations instruction
It analyses and determines the operating area that target structures are executed with nominated bank's crane operation, row is determined based on three-dimensional system of coordinate and operating area
The first walking path and/or multiple rows that hang cart hang the second walking path of trolley, according to the first walking path and/or second
Walking path control row hangs cart and/or row hangs trolley and moved, and then hangs trolley by multiple rows and cooperate to complete
Reinforcing bar binding, steel bar arrangement, wallboard transport, wallboard installation, aluminum dipping form transport, aluminum dipping form are installed, concrete distributing, and concrete smoothes out etc.
Nominated bank's crane operation.
It introduces above, row hangs one or more rows that are provided with movable on cart and hangs trolley；Also, row hangs edge on trolley
Vertical direction is equipped with telescopic rod, and telescopic rod is equipped with mechanical arm, can connect end effector by the mechanical arm.Therefore, in structure
When building three-dimensional system of coordinate, the row on cart can be hung using row and hangs the direction of motion of trolley as X-axis, the direction of motion that row hangs cart is
Y-axis, the direction of motion of telescopic rod are that Z axis constructs three-dimensional system of coordinate；When row hangs cart and row hangs trolley all in origin position,
Transmitting laser beam determines origin.Optionally, determining that row hangs the first walking path of cart and/or row hangs the second of trolley
When walking path, it can determine that row hangs cart and hangs trolley in X-direction and Y direction to each row respectively based on three-dimensional system of coordinate
Relative to the displacement parameter of corresponding operating area, and generate that row hangs the first walking path of cart and/or each row hangs the of trolley
Two walking paths.X, Y axis coordinate are persistently exported as target position continuously move available row hang by three-dimensional system of coordinate
Row hangs cart in system and row hangs the walking path of trolley.Wherein, the X-axis of moving of car, cart movement is Y-axis, along with liter
The Z-direction of contracting bar forms three-dimensional system of coordinate；When big trolley is all in origin position, transmitting laser beam determines origin,
We are known that the coordinate of (X, Y) by laser navigation in any position of plane, and the coordinate of Z axis is opposite by telescopic rod
The offset of origin position determines.
Step S303 is expert in crane system and chooses more rows and hang trolley, by control more rows hang each row in trolley hang it is small
Vehicle is performed in unison with nominated bank's crane operation.
Further, above-mentioned steps S303 may include: and be expert in crane system to choose more rows and hang trolley, be based on above-mentioned behaviour
Make instruction and determines that each row hangs at least one end effector when trolley executes nominated bank's crane operation；The machine of trolley is hung by each row
Tool arm automatically grabs corresponding end effector, is performed in unison with above-mentioned nominated bank's crane operation.
The embodiment of the present invention determines that row hangs cart and the capable operating path for hanging trolley is gone forward side by side by constructing three-dimensional system of coordinate
Row navigation, can control that row hangs cart and row hangs trolley and accurately moved to the operating area of target structures, and then by multiple
Row hangs trolley and cooperates efficiently to complete nominated bank's crane operation, higher compared to traditional scheme operating efficiency, and makes full use of
There is resource, avoids the waste of resource.
Optionally, in row crane system provided in an embodiment of the present invention, row, which is hung, is additionally provided with image collecting device machinery on trolley
Arm, image collecting device mechanical arm are equipped with image collecting device, and image collecting device is electrically connected to the control system；Pass through control
When the mechanical arm that row hangs trolley automatically grabs corresponding end effector and is performed in unison with nominated bank's crane operation, the image can be passed through
Acquisition device obtains continuous first image data that row hangs multiple angles of the trolley when executing nominated bank's crane operation time；Base
Coordinate each row in the first image data and hangs the sequence that the row on cart hangs trolley execution nominated bank's crane operation.Image collecting device is excellent
It is selected as 3D smart camera device, quantity can be adjusted according to different needs.
It is expert at and hangs in the course of work of trolley, by image collecting device can also take pictures and detect that determine that each row is hung small
Mechanical arm executes sequence on vehicle, guarantees going on smoothly for process operation, prevents interfering between two mechanical arms, influences
Operation process.For example, operation being bound for wall column reinforcing bar, the mechanical arm for needing two rows to hang trolley carries out operation jointly,
Two vehicle of routine call A/B grabs the actuator of needs, A handgrip B welding machine respectively at this time, and preparation is grabbed by A vehicle first after the completion
It takes reinforcing bar to be bonded, B vehicle after fitting to be confirmed is waited to carry out flash butt welding again, if it is that B has to wait for A work that two-arm movement, which has interference,
Work of taking action again is completed, B can move to welding waiting position simultaneously to reduce work pace if two-arm is without interference.
In addition to above-mentioned introduction, the embodiment of the present invention can also be obtained row by image collecting device and hang trolley specified
The second image data after the completion of the execution of row crane operation；It is detected based on the second image data, judges nominated bank's crane operation
Whether completion status meets preset standard；If the completion status of nominated bank's crane operation meets preset standard, continue to execute next
A row crane operation；If the completion status of nominated bank's crane operation does not meet preset standard, nominated bank's crane operation is re-executed.
For lifting reinforcing bar binding, the second image data can be carried out by two ways judging whether operation meets mark
It is quasi-.The first, shot before binding it is primary, shot after binding it is primary, the difference based on image twice judge whether to tie up or
Do not tie up；Second, a classifier is obtained based on SVM algorithm training, is sorted out and is tied up or do not tie up.The embodiment of the present invention can lead to
It crosses image collecting device and obtains the image data that nominated bank's crane operation executes front and back respectively, pass through the difference of the two groups of image datas in front and back
The opposite sex judges whether nominated bank's crane operation is completed.Classifier can also be trained in advance, obtain figure after the execution of nominated bank's crane operation
As data, it is inputted preparatory trained classifier and judges whether the image data is that nominated bank's crane operation runs succeeded later
Image data later, in practical application may there are also other judgment modes, specific image procossing mode can be based on building work
Depending on skill, the present invention is without limitation.Wherein, the setting for the multiple trolleies of multiple adaptations that image collecting device can be independently arranged and
The accurate acquisition of image data.The corresponding technique of row crane operation can be judged using aforesaid way, while can also reached
To functions such as quality inspections.
Row crane system row provided in an embodiment of the present invention hangs and is additionally provided with sensor mechanism arm on trolley, on sensor mechanism arm
Equipped with sensor, if hanging the sensor inspection being arranged on trolley by any one row in the implementation procedure of nominated bank's crane operation
Measure and hang trolley less than neighbour's row of pre-determined distance at a distance from trolley in the presence of hanging with the row, then the row out of service hang trolley or
Neighbour's row hangs trolley.The sensor is preferably range sensor.That is, can be set on trolley by being hung in any one row
Range sensor is set to detect and hang at a distance from trolley with other rows, it is assumed that the row hangs trolley and examines in the process of running by sensor
Trolley may be hung with other rows by, which measuring, sends collision, then one of row is hung trolley and moved to opposite direction.The pre-determined distance
It can be configured according to different application demands, the present invention is without limitation.
Further, if in scheme provided in an embodiment of the present invention in the implementation procedure of nominated bank's crane operation, by appointing
Row of anticipating hangs the sensor being arranged on trolley and detects that row hangs trolley and touches the anticollision device, collision-prevention device that other rows hang trolley, then controls
Row hangs trolley or other rows hang reverse direction operation of the trolley to its original traffic direction.
The control system of crane system of being expert at controls each row and hangs during trolley executes row crane operation difference may occur
Failure carry out operation jointly when control system controls two rows and hangs the mechanical arm of trolley, at this time routine call A/ for example
Two vehicle of B grabs the actuator of needs respectively, and A handgrip B welding machine, preparation is after the completion first by the crawl reinforcing bar fitting of A vehicle.But
It may break down during A executes operation and work can not be normally completed, control system will detect the event of A vehicle at this time
Barrier is to carry out troubleshooting.
The embodiment of the invention also provides a kind of fault handling method of the more car body row crane systems of single-beam, the troubleshootings
Method, which can be controlled individually, can also be used as a part of operation and is controlled to monitor row crane system failure and carry out at failure
The control system of reason.As shown in figure 4, the fault handling method of the more car body row crane systems of single-beam provided in an embodiment of the present invention can
To include:
Step S401, during control system controls one or more rows and hangs trolley and be performed in unison with nominated bank's crane operation,
Each row hangs the working condition of trolley in monitoring row crane system；
Step S402, if row crane system judges that any one row hangs trolley appearance during executing nominated bank's crane operation
Failure then judges the fault type of above-mentioned failure；
Step S403 is handled above-mentioned failure using preset processing mode based on fault type.
During crane system automatic running of being expert at, if it is simple fault can send fault message notify maintenance personnel into
Row maintenance can carry out other processing if there is catastrophe failure to will affect what separate unit driving worked normally automatically.By to different events
Barrier type take different treatment measures, can guarantee while timely handling failure row crane system to nominated bank's crane operation
Normal execution.
Optionally, above-mentioned steps S403 can further comprise: if judging, above-mentioned failure belongs to driving class failure, records out
The row of existing failure sends serious warning message after hanging the current status information of trolley, and executes the first default processing movement；If sentencing
The failure of breaking belongs to end effector class failure, then sends general alarm information, and executes the second default processing movement.Driving
Class failure may include that row hangs the failure that trolley can not walk, and be exactly servo motor failure or mechanical breakdown with actuator
The failures such as can not walk；End effector class failure may include: communication failure, dropout and/or damage of components etc., be
Realize that equipment such as trowelling machine of concrete technology such as breaks down at the failures.
In addition, the embodiment of the present invention takes difference for different warning messages by using classifying alarm system to failure
Processing movement.First default processing movement is executed for serious warning message, may include: will row hang trolley switch to it is default
Standby position, while hanging trolley using other vacant lines and hanging trolley instead of the row and continue operation.Such as: existing two vehicle of A, B is same
Shi Zuoye, when B vehicle mechanical arm breaks down, SERVO CONTROL A trolley is bonded progress with B trolley and virtually merges into the progress of AB vehicle together
Walking is walked, while the promotion of B vehicle telescopic rod avoids interference with, and idle C vehicle is then called to take over B vehicle and AB vehicle common operational.
It may include: according to alarm priority to appearance for the second default processing movement that general alarm information executes
The row of failure hangs trolley and carries out repair process, and restarts.For example, the row of failure can be hung according to alarm priority
The end effector of trolley is resetted；And/or by the row of failure hang moving of car to default maintenance position carry out check repair
Reason, and then judge whether to switch end effector.
By time of trouble hunting and seriously at can be divided into failure: simple fault, generic failure and/or
Catastrophe failure；Simple fault includes the failure by that can restore normal operating conditions after reset reboot operation；Generic failure includes:
Dropout or line fault etc.；Catastrophe failure includes: mechanical collision or electrical damage etc..By being carried out according to alarm priority
Maintenance carries out priority processing to catastrophe failure, and then prevents failure driving from causing to seriously affect to entire row crane operation.
It introduces above, for some failures, can recorde the row for the failure occur and hang the current status information of trolley,
The status information may include: that the row for the failure occur hangs the working condition of trolley, technique information, road location etc., record
Failed row may return to remote control end after hanging the status information of trolley, and intuitive display is to facilitate staff to check；If therefore
Barrier driving can not work immediately, after waiting other drivings to complete itself work at this time, other drivings are switched to failure driving and are referred to
Needle takes over working condition when failure driving stops and works on, and then guarantees row crane system to the smooth of nominated bank's crane operation
It carries out.
The embodiment of the invention provides a kind of efficient control method and fault handling method for the more car bodies of single-beam,
Control method based on the embodiment of the present invention hangs trolley by the respectively capable row hung on cart of three-dimensional system of coordinate and determines work
Make region, and precisely form the walking path that row hangs cart and row hangs trolley, target structures are executed with set technique
Operation.And can also in the process of implementation by sensor detect barrier, prevent driving motion process in collide and
Row crane operation is influenced, the functions such as quality inspection are carried out to row crane operation by image collecting device.In addition, the embodiment of the present invention also provides
To the fault handling method of row crane system, the processing mode different to different type and different grades of fault setting, with
The failure being likely to occur in row crane system is efficiently treated through, and then efficiently completes nominated bank's crane operation.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any
Can in any combination mode come using.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (15)
1. a kind of more car body row crane systems of single-beam, comprising:
Control system, a line, which hangs cart and is movably set to multiple rows that the row is hung on cart, hangs trolley；Wherein,
The row hangs cart and includes two horizontal guide rails being arranged in parallel on climbing frame and be erected between two horizontal guide rails
And it can be along the crossbeam that horizontal guide rail moves；
The row hangs that trolley is movable along longitudinal direction to be set to the row and hang on the crossbeam of cart, hangs object for carrying row；
The row hangs trolley and communicates to connect respectively with the control system, and realizes row crane operation by the control coordinated movement of various economic factors.
2. row crane system according to claim 1, wherein the row is hung is equipped with telescopic rod, institute along the vertical direction on trolley
Telescopic rod is stated equipped with mechanical arm, the mechanical arm is for connecting end effector.
3. row crane system according to claim 1, wherein the row hangs trolley and is equipped with image collecting device mechanical arm,
Described image acquisition device mechanical arm is equipped with image collecting device, and described image acquisition device is electrically connected with the control system
It connects, and realizes that multi-angle is taken pictures by described image acquisition device mechanical arm.
4. row crane system according to claim 1-3, wherein the row hangs trolley at least one end and is equipped with sensing
Device, the sensor are used to detect the adjacent row and hang the distance of trolley to limit the operation that the adjacent row hangs trolley.
5. a kind of control method of the more car body row crane systems of single-beam is applied to the described in any item single-beams of claim 1-4
More car body row crane systems, which comprises
The row crane system for the more car bodies of single-beam of remote control end input is received to target structures by the control system
Execute the operational order of nominated bank's crane operation；
The row in the row crane system is hung into the operating area that cart moves to the target structures based on the operational order；
One or more rows are chosen in the row crane system and hang trolley, and trolley is hung by the control one or more rows and is performed in unison with
Nominated bank's crane operation.
6. method according to claim 5, wherein described that row in the row crane system is hung cart based on the operational order
Move to the operating area of the target structures, comprising:
Three-dimensional system of coordinate is constructed by way of laser navigation, the operational order is analyzed and is determined, the target is built
Build the operating area for executing nominated bank's crane operation；
Determine that the row hangs the first walking path of cart and/or described based on the three-dimensional system of coordinate and the operating area
Row hangs the second walking path of trolley；
Cart is hung according to first walking path and/or the second walking path control row and/or row hangs trolley and transported
It is dynamic.
7. method according to claim 6, wherein described to construct three-dimensional system of coordinate by way of laser navigation, comprising:
The row on cart is hung using row and hangs the direction of motion of trolley as X-axis, and the direction of motion that row hangs cart is Y-axis, the fortune of telescopic rod
Dynamic direction is that Z axis constructs three-dimensional system of coordinate；
When the row hangs cart and row hangs trolley all in origin position, transmitting laser beam determines origin.
8. method according to claim 6, wherein described to determine institute based on the three-dimensional system of coordinate and the operating area
It states capable the first walking path for hanging cart and/or the row hangs the second walking path of trolley, comprising:
Determine that the row hangs cart and hangs trolley in X-direction and Y-axis side to each row respectively based on the three-dimensional system of coordinate
To the displacement parameter relative to the operating area, and generate the row hang cart the first walking path and/or each institute
State the second walking path that row hangs trolley.
It is described to choose one or more rows in the row crane system and hang trolley 9. according to the method described in claim 5, wherein,
Trolley, which is hung, by the control one or more rows is performed in unison with nominated bank's crane operation, comprising:
One or more rows are chosen in the row crane system and hang trolley, determine that each row hangs trolley and executes institute based on the operational order
State at least one end effector when nominated bank's crane operation；
Corresponding end effector is automatically grabbed by the mechanical arm that each row hangs trolley, the nominated bank is performed in unison with and hangs work
Industry.
10. according to the method described in claim 9, wherein, the mechanical arm for hanging trolley by each row is automatically grabbed pair
The end effector answered is performed in unison with after nominated bank's crane operation, further includes:
The row, which is obtained, by described image acquisition device hangs multiple angles when trolley executes nominated bank's crane operation time
Continuous first image data；
The sequence that trolley executes nominated bank's crane operation is hung based on each row of the first image data harmonization.
11. according to the method described in claim 9, wherein, the mechanical arm for hanging trolley by each row is automatically grabbed pair
The end effector answered is performed in unison with after nominated bank's crane operation, further includes:
The multiple row, which is obtained, by described image acquisition device hangs of trolley after the completion of nominated bank's crane operation executes
Two image datas；
It is detected based on second image data, judges whether the completion status of nominated bank's crane operation meets pre- bidding
It is quasi-；
If the completion status of nominated bank's crane operation meets preset standard, next row crane operation is continued to execute；
If the completion status of nominated bank's crane operation does not meet preset standard, nominated bank's crane operation is re-executed.
12. according to the described in any item methods of claim 5-11, wherein the method also includes:
If hanging the sensor inspection being arranged on trolley by any one of row in the implementation procedure of nominated bank's crane operation
It measures and hangs trolley in the presence of the neighbour's row hung at a distance from trolley less than pre-determined distance with the row, then the row out of service hangs trolley
Or neighbour's row hangs trolley.
13. according to the described in any item methods of claim 5-11, wherein further include:
If hanging the sensor inspection being arranged on trolley by any one of row in the implementation procedure of nominated bank's crane operation
It measures the row and hangs trolley and touch the anticollision device, collision-prevention device that other rows hang trolley, then control that the row hangs trolley or other rows hang trolley
To the reverse direction operation of its original traffic direction.
14. the method includes following fault handling methods according to the described in any item methods of claim 5-13:
It controls the one or more rows in the control system and hangs each row in trolley and hang trolley and be performed in unison with the nominated bank and hang work
During industry, the working condition that each row in the row crane system hangs trolley is monitored；
If the row crane system judges that any one row hangs trolley failure during executing nominated bank's crane operation, sentence
The fault type for the failure of breaking；
The failure is handled using preset processing mode based on the fault type.
15. according to the method for claim 14, wherein described to use preset processing mode pair based on the fault type
The failure is handled, comprising:
If judge the failure belong to driving class failure, record occur the failure row hang the current status information of trolley after
Serious warning message is sent, and executes the first default processing movement；
If judging, the failure belongs to end effector class failure, sends general alarm information, and executes the second default processing
Movement.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910261305.0A CN110077964A (en) | 2019-04-02 | 2019-04-02 | A kind of more car body row crane systems of single-beam and its progress control method |
| PCT/CN2020/074181 WO2020156560A1 (en) | 2019-02-02 | 2020-02-03 | Climbing tower crane apparatus and control method therefor, traveling crane system and fault handling method and control method therefor |
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| CN201910261305.0A CN110077964A (en) | 2019-04-02 | 2019-04-02 | A kind of more car body row crane systems of single-beam and its progress control method |
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