CN110104563A - A kind of more car body row crane systems of single-beam and fault handling method - Google Patents
A kind of more car body row crane systems of single-beam and fault handling method Download PDFInfo
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- CN110104563A CN110104563A CN201910261619.0A CN201910261619A CN110104563A CN 110104563 A CN110104563 A CN 110104563A CN 201910261619 A CN201910261619 A CN 201910261619A CN 110104563 A CN110104563 A CN 110104563A
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- 238000009435 building construction Methods 0.000 description 3
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 2
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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
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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
- B66C13/18—Control systems or devices
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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
- 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
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices 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
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
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 invention relates to the technical field of traveling cranes, in particular to a single-beam multi-vehicle-body traveling crane system and an operation control method and a fault handling method thereof.
Background
In the existing building construction process, a traveling crane (a crane is used for lifting materials) is generally used for carrying materials; the climbing frame is one of the necessary devices in the building construction process, can climb or descend along a building, and is a safe and reliable operation platform in the building construction.
The traditional travelling crane generally operates by a travelling crane cart with a single cart body, and does not operate in a linkage way by a cart with multiple cart bodies; moreover, how to control a plurality of cranes to perform work and improve the work efficiency is low, and the problem of wasting resources and the like is a problem to be solved urgently.
Disclosure of Invention
In view of the above, the present invention provides a single-beam multi-body traveling crane system, a control method thereof, and a fault handling method thereof, which overcome or at least partially solve the above problems.
According to an aspect of an embodiment of the present invention, there is provided a single-beam multi-car body traveling crane system including:
the system comprises a control system, a travelling crane cart and a plurality of travelling crane trolleys movably arranged on the travelling crane cart; wherein,
the crane cart comprises two horizontal guide rails which are arranged on the climbing frame in parallel and a cross beam which is erected between the two horizontal guide rails and can move along the horizontal guide rails;
the travelling crane trolley is movably arranged on a cross beam of the travelling crane trolley along the longitudinal direction and is used for carrying a travelling crane object;
and the control system is in communication connection with the plurality of travelling crane trolleys respectively, monitors faults of the trolleys and carries out fault treatment.
Optionally, a telescopic rod is arranged on the traveling crane trolley in the vertical direction, and a mechanical arm is arranged on the telescopic rod and used for being connected with the end effector.
Optionally, an image acquisition device mechanical arm is arranged on the traveling crane trolley, an image acquisition device is arranged on the image acquisition device mechanical arm, the image acquisition device is electrically connected with the control system, and multi-angle photographing is achieved through the image acquisition device mechanical arm.
Optionally, at least one end of each travelling crane trolley is provided with a sensor, and the sensor is used for detecting the distance between every two adjacent travelling crane trolleys so as to limit the operation of the adjacent travelling crane trolleys.
The invention provides a single-beam multi-vehicle-body traveling crane system and a fault processing method thereof. And can also detect the barrier through the sensor in the implementation process, prevent to bump and influence the operation of hanging by crane in the driving motion process, carry out functions such as quality control to the operation of hanging by crane through image acquisition device. In addition, the invention also provides a fault processing method for the traveling crane system, which sets different processing modes for different types and different levels of faults so as to efficiently process the faults possibly occurring in the traveling crane system and further efficiently finish the specified traveling crane operation.
According to another aspect of the invention, a control method of a single-beam multi-vehicle-body traveling crane system is further provided, and is applied to the single-beam multi-vehicle-body traveling crane system, and the method comprises the following steps:
receiving an operation instruction, which is input by a remote control end and aims at a traveling crane system of a single-beam multi-vehicle body to execute specified traveling crane operation on a target building, by the control system;
moving a traveling crane cart in the traveling crane system to a working area of the target building based on the operation instruction;
and selecting one or more traveling crane trolleys in the traveling crane system, and controlling the one or more traveling crane trolleys to cooperatively execute the specified traveling crane operation.
Optionally, the moving the crane cart in the crane system to the working area of the target building based on the operation instruction includes:
constructing a three-dimensional coordinate system in a laser navigation mode, analyzing the operation instruction and determining an operation area for executing the specified travelling crane operation on the target building;
determining a first walking path of the crane cart and/or a second walking path of the crane trolley based on the three-dimensional coordinate system and the operation area;
and controlling the traveling crane cart and/or the traveling crane trolley to move according to the first traveling path and/or the second traveling path.
Optionally, the constructing a three-dimensional coordinate system by means of laser navigation includes:
establishing a three-dimensional coordinate system by taking the moving direction of a travelling crane trolley on a travelling crane cart as an X axis, the moving direction of the travelling crane cart as a Y axis and the moving direction of a telescopic rod as a Z axis;
and when the crane cart and the crane trolley are both positioned at the original point position, emitting laser beams to determine the original point coordinates.
Optionally, the determining a first walking path of the crane cart and/or a second walking path of the crane cart based on the three-dimensional coordinate system and the working area includes:
and respectively determining displacement parameters of the travelling crane cart and each travelling crane trolley in the X-axis direction and the Y-axis direction relative to the operation area based on the three-dimensional coordinate system, and generating a first travelling path of the travelling crane cart and/or a second travelling path of each travelling crane trolley.
Optionally, the selecting one or more traveling crane trolleys in the traveling crane system, and performing the specified traveling crane operation by controlling the one or more traveling crane trolleys in a coordinated manner includes:
selecting one or more travelling crane trolleys in the travelling crane system, and determining at least one end effector of each travelling crane trolley when the travelling crane trolleys execute the specified travelling crane operation based on the operation instruction;
and automatically grabbing the corresponding end effector through the mechanical arms of the various hoisting trolleys, and cooperatively executing the specified hoisting operation.
Optionally, after the robot arms of the respective traveling crane carts automatically grab the corresponding end effectors and cooperatively perform the specified traveling crane operation, the method further includes:
acquiring continuous first image data of a plurality of angles when the travelling crane trolley executes the specified travelling crane operation time through the image acquisition device;
and coordinating the sequence of the specified travelling crane operation executed by each travelling crane trolley based on the first image data.
Optionally, after the robot arms of the respective traveling crane carts automatically grab the corresponding end effectors and cooperatively perform the specified traveling crane operation, the method further includes:
second image data of the multiple travelling crane trolleys after the specified travelling crane operation is executed is obtained through the image acquisition device;
detecting based on the second image data, and judging whether the completion state of the specified hoisting operation meets a preset standard;
if the completion state of the specified hoisting operation meets the preset standard, continuing to execute the next hoisting operation;
and if the completion state of the specified hoisting operation does not meet the preset standard, re-executing the specified hoisting operation.
Optionally, the method further comprises:
and if the sensor arranged on any one of the traveling crane trolleys detects that an adjacent traveling crane trolley with the distance to the traveling crane trolley smaller than the preset distance exists in the execution process of the specified traveling crane operation, stopping running the traveling crane trolley or the adjacent traveling crane trolley.
Optionally, the method further comprises:
and if the fact that the travelling crane trolley contacts with the anti-collision devices of other travelling crane trolleys is detected by a sensor arranged on any travelling crane trolley in the execution process of the specified travelling crane operation, the travelling crane trolley or other travelling crane trolleys are controlled to run in the direction opposite to the original running direction.
According to another aspect of the invention, a fault handling method of the single-beam multi-vehicle-body traveling crane system is further provided, and is applied to any one of the single-beam multi-vehicle-body traveling crane systems, and the fault handling method can be controlled independently or can be controlled as part of the operation control method. The fault processing method comprises the following steps:
monitoring the working state of each traveling crane trolley in the traveling crane system in the process that the control system controls each traveling crane trolley in the one or more traveling crane trolleys to cooperatively execute the specified traveling crane operation;
if the traveling crane system judges that any traveling crane trolley has a fault in the process of executing the specified traveling crane operation, judging the fault type of the fault;
and processing the fault by adopting a preset processing mode based on the fault type.
Optionally, the processing the fault by using a preset processing manner based on the fault type includes:
if the fault is judged to belong to the traveling type fault, recording the current state information of the traveling crane trolley with the fault, then sending serious alarm information, and executing a first preset processing action;
and if the fault is judged to belong to the end effector type fault, sending general alarm information and executing a second preset processing action.
Optionally, the vehicle-type fault includes: the travelling crane trolley cannot travel;
the end effector-like fault includes: communication failures, signal loss, and/or component damage.
Optionally, the executing the first preset processing action includes:
switching the travelling crane trolley to a preset waiting position, and simultaneously replacing the travelling crane trolley with other idle travelling crane trolleys to continue operation;
the executing of the second preset processing action comprises: and repairing the failed travelling crane trolley according to the alarm priority and restarting.
Optionally, the repairing the failed traveling crane trolley according to the alarm priority includes:
resetting the tail end executor of the traveling crane trolley with the fault according to the alarm priority; and/or
And moving the crane trolley with the fault to a preset maintenance position for inspection and repair.
The above-described solutions and features are within the scope of explicit exclusion by the person skilled in the art, in any preferred combination.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic structural diagram of a single-beam multi-vehicle body traveling crane system according to a first embodiment of the invention;
FIG. 2 is a schematic structural diagram of a single-beam multi-vehicle-body traveling crane system according to a second embodiment of the invention;
FIG. 3 is a schematic flow chart of a control method of the single-beam multi-vehicle-body traveling crane system according to the embodiment of the invention;
fig. 4 is a flow chart illustrating a fault handling method of the single-beam multi-vehicle-body traveling crane system according to the embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the invention provides a single-beam multi-vehicle-body traveling crane system, and as can be seen from fig. 1 and 2, the traveling crane system provided by the embodiment of the invention can comprise: the device comprises a traveling crane cart 3, one or more traveling crane trolleys 5 arranged on the traveling crane cart 3 and a control system, wherein one traveling crane cart 3 is provided with one traveling crane trolley 5 as shown in fig. 1, and the traveling crane system shown in fig. 2 is that one traveling crane cart 3 comprises a plurality of traveling crane trolleys 5; the crane cart 3 comprises two horizontal guide rails 2 arranged on the climbing frame 1 in parallel and a cross beam 31 erected between the two horizontal guide rails 2 and capable of moving along the horizontal guide rails; specifically, wheels are arranged at two ends of a traveling crane cart 3, the wheels are clamped on a horizontal guide rail 2 on a rail bearing beam, a guide rail driver is directly connected with the wheels, the wheels of the cart are driven to rotate when the guide rail driver is started, the traveling crane cart is driven to transversely move, the position of the traveling crane in the transverse direction is adjusted, when the traveling crane cart 3 needs to stop running, the guide rail driver is provided with a brake to stop the cart, and guide wheels are arranged at the end of the traveling crane cart 3 to prevent the cart from sideslipping.
The plurality of traveling crane trolleys 5 are longitudinally movably arranged on the beam 31 of the traveling crane cart 3 and used for carrying traveling crane objects, and the traveling crane objects in the embodiment may be end effectors such as hand grips, tool quick-change devices and spray guns, or may be different object objects acquired by the end effectors when different traveling crane operations are performed.
In addition, a plurality of travelling crane trolleys 3 are respectively in communication connection with the control system and are controlled to move coordinately to realize travelling crane operation and monitor and process faults.
Furthermore, the movement direction of the traveling crane cart 3 and the movement direction of the traveling crane trolley 5 are perpendicular to each other, so that the traveling crane cart 3 and the traveling crane trolley 5 can perform traveling operation in two-dimensional directions (which can be understood as plane X/Y directions) through the allocation of a control system, the movement direction of the traveling crane cart 3 can adjust the operation path of the traveling crane trolley 5 in the transverse position, and the movement direction of the traveling crane trolley 5 can adjust the operation path in the longitudinal position; further, in order to realize more efficient traveling and hoisting operation, the traveling and hoisting trolleys 5 are controlled to move in a coordinated manner according to a preset traveling path to realize the traveling and hoisting operation; of course, each travelling crane trolley 5 can be independently controlled to move coordinately according to a preset travelling path to realize travelling operation; by adopting the design of the traveling cranes, various traveling crane operations can be realized through the coordination and the coordination of the plurality of traveling cranes, and the efficiency of the traveling crane operations is improved.
A telescopic rod 6 is arranged on the travelling crane trolley 5 along the vertical direction; a mechanical arm 7 is arranged at the bottom of the telescopic rod 6, the mechanical arm 7 is a multi-shaft mechanical arm, the mechanical arm 7 is used for connecting an end effector, and the end effector can be a mechanical arm or other equipment according to the actual hoisting operation requirement; note that the robot arm 7 may be replaced with a different end effector depending on the connection portion at the bottom of the robot arm 7.
The embodiment of the present invention further provides a control method for a single-beam multi-vehicle-body traveling crane system, and as can be seen from fig. 3, the control method for a single-beam multi-vehicle-body traveling crane system provided by the embodiment of the present invention may include:
and S301, receiving an operation instruction, which is input by a remote control end and aims at the traveling crane system of the single-beam multi-vehicle body, of executing specified traveling crane operation on the target building through the control system. The remote control end is a far end for controlling the traveling crane system, such as a mobile terminal or a fixed terminal, and corresponding operation instructions can be input according to different processes of different buildings through the remote control end. If reinforcement, reinforcing bar arrange, the wallboard transportation, the wallboard installation, the aluminium mould transportation, the aluminium mould installation, the concrete cloth, concrete floating etc. to different technology orders, after the line system of hanging received the control instruction to different technologies, can automatic operation. If floor binding is selected, the travelling crane trolley can reach a specified place to switch the steel bar binding device and then automatically perform binding operation in a specified area, the trolley can be selectively transported and switched into a gripper to help people to transport heavy objects, and the functions to be realized can be realized through a pre-written program and a designed actuator.
And step S302, moving the traveling crane cart in the traveling crane system to the working area of the target building based on the operation command.
After receiving the operation instruction from the remote control end, the traveling crane system can analyze and judge the corresponding process type so as to carry out intelligent construction. Because the travelling crane system provided by the embodiment is provided with the plurality of travelling crane trolleys on the travelling crane cart, further, a three-dimensional coordinate system can be established in a laser navigation mode, the operation instruction is analyzed, the operation area for executing the specified travelling crane operation on the target building is determined, the first travelling path of the travelling crane cart and/or the second travelling paths of the plurality of travelling crane trolleys are determined based on the three-dimensional coordinate system and the operation area, the travelling crane cart and/or the travelling crane trolleys are controlled to move according to the first travelling path and/or the second travelling path, and the specified travelling crane operations such as steel bar binding, steel bar arrangement, wallboard transportation, wallboard installation, aluminum mould transportation, aluminum mould installation, concrete distribution, concrete floating and the like are completed through the cooperative work of the plurality of travelling crane trolleys.
As introduced above, one or more travelling crane trolleys are movably arranged on the travelling crane cart; and a telescopic rod is arranged on the travelling crane trolley along the vertical direction, a mechanical arm is arranged on the telescopic rod, and the mechanical arm can be connected with an end effector. Therefore, when a three-dimensional coordinate system is constructed, the three-dimensional coordinate system can be constructed by taking the movement direction of the travelling crane trolley on the travelling crane trolley as an X axis, the movement direction of the travelling crane trolley as a Y axis and the movement direction of the telescopic rod as a Z axis; and when the crane cart and the crane trolley are both positioned at the original point position, emitting laser beams to determine the coordinates of the original point. Optionally, when the first traveling path of the traveling crane cart and/or the second traveling path of the traveling crane cart are/is determined, displacement parameters of the traveling crane cart and the traveling crane carts in the X-axis direction and the Y-axis direction relative to the corresponding working area may be respectively determined based on the three-dimensional coordinate system, and the first traveling path of the traveling crane cart and/or the second traveling path of the traveling crane carts may be generated. Namely, the walking paths of the crane cart and the crane trolley in the crane system can be obtained by continuously outputting X, Y axis coordinates as a target position for continuous movement through the three-dimensional coordinate system. Wherein, the X axis of the trolley motion and the Y axis of the cart motion are combined with the Z axis direction of the telescopic rod to form a three-dimensional coordinate system; when the big car and the small car are both at the original position, a laser beam is emitted to determine the original coordinates, the coordinates of (X, Y) can be known in any position of a plane through laser navigation, and the coordinates of the Z axis are determined by the offset of the telescopic rod relative to the original position.
And S303, selecting a plurality of traveling crane trolleys in the traveling crane system, and cooperatively executing specified traveling crane operation by controlling each traveling crane trolley in the plurality of traveling crane trolleys.
Further, the step S303 may include: selecting a plurality of travelling crane trolleys in the travelling crane system, and determining at least one end effector when each travelling crane trolley executes specified travelling crane operation based on the operation instruction; and automatically grabbing the corresponding end effector by the mechanical arms of each row of hoisting trolleys, and cooperatively executing the specified row hoisting operation.
According to the embodiment of the invention, the working paths of the traveling crane cart and the traveling crane trolley are determined and navigated by constructing the three-dimensional coordinate system, so that the traveling crane cart and the traveling crane trolley can be controlled to accurately move to the working area of the target building, and then the specified traveling crane operation is efficiently completed by the cooperation of the plurality of traveling crane trolleys.
Optionally, in the traveling crane system provided in the embodiment of the present invention, the traveling crane trolley is further provided with an image acquisition device mechanical arm, the image acquisition device mechanical arm is provided with an image acquisition device, and the image acquisition device is electrically connected to the control system; when the mechanical arm of the traveling crane trolley is controlled to automatically grab the corresponding end effector to cooperatively execute the specified traveling crane operation, the image acquisition device can be used for acquiring continuous first image data of a plurality of angles of the traveling crane trolley during the time of executing the specified traveling crane operation; and coordinating the sequence of the traveling crane trolleys on the traveling crane trolleys to execute the specified traveling crane operation based on the first image data. The number of image acquisition devices, preferably 3D smart cameras, can also be adjusted according to different needs.
In the working process of the travelling crane trolley, the image acquisition device can be used for photographing and detecting to determine the execution sequence of the mechanical arms on the travelling crane trolley, so that the smooth proceeding of the process operation is ensured, and the mutual interference between the two mechanical arms is prevented from influencing the operation process. For example, for the wall column steel bar binding operation, two mechanical arms of two traveling crane trolleys are required to perform the operation together, at the moment, a program calls an A/B two trolleys to respectively grab required actuators, an A grab handle B welding machine firstly grabs the steel bars for fitting after the preparation work is finished, the B trolley performs flash butt welding after the fitting is confirmed, if the actions of the two arms are interfered, the B trolley must wait for the A work to finish the operation again, and if the two arms are not interfered, the B trolley can move to a welding waiting position at the same time so as to reduce the working beat.
In addition to the above description, in the embodiment of the present invention, the second image data of the traveling crane trolley after the designated traveling crane operation is performed can be acquired through the image acquisition device; detecting based on the second image data, and judging whether the completion state of the specified hoisting operation meets a preset standard; if the completion state of the specified hoisting operation meets the preset standard, continuing to execute the next hoisting operation; and if the completion state of the specified hoisting operation does not meet the preset standard, re-executing the specified hoisting operation.
Taking reinforcement bar binding as an example, whether the operation meets the standard or not can be judged for the second image data in two ways. Firstly, shooting once before binding and shooting once after binding, and judging whether the binding is carried out or not based on the difference value of the two images; and secondly, training based on an SVM algorithm to obtain a classifier, and classifying whether binding exists or not. According to the embodiment of the invention, the image data before and after the specified line hoisting operation is executed can be respectively obtained through the image acquisition device, and whether the specified line hoisting operation is finished or not is judged according to the difference of the two groups of image data before and after the specified line hoisting operation is executed. The classifier may also be trained in advance, the image data is acquired after the specified line hanging operation is executed, and after the image data is input into the classifier trained in advance, whether the image data is the image data after the specified line hanging operation is successfully executed may be judged. The image acquisition devices can be preferably and independently arranged in a plurality of modes, and specifically, a plurality of intelligent cameras can be adopted and are used for being matched with a plurality of travelling crane trolleys. By adopting the mode, the process corresponding to the crane operation can be judged, and meanwhile, the functions of quality inspection and the like can be achieved.
The sensor mechanical arm is arranged on the sensor mechanical arm, and if the sensor arranged on any one of the traveling crane trolleys detects that an adjacent traveling crane trolley with the distance to the traveling crane trolley smaller than the preset distance exists in the execution process of the specified traveling crane operation, the traveling crane trolley or the adjacent traveling crane trolley stops running. The sensor is preferably a distance sensor. That is, a distance sensor may be disposed on any one of the traveling crane trolleys to detect the distance from the other traveling crane trolleys, and if the traveling crane trolley detects that a collision may be sent to the other traveling crane trolleys through the sensor during the operation, one of the traveling crane trolleys is moved in the opposite direction. The preset distance can be set according to different application requirements, and the invention is not limited.
Further, in the scheme provided by the embodiment of the invention, if the sensor arranged on any one of the traveling crane trolleys detects that the traveling crane trolley contacts with the anti-collision device of the other traveling crane trolley in the execution process of the specified traveling crane operation, the traveling crane trolley or the other traveling crane trolley is controlled to run in the direction opposite to the original running direction.
For example, when the control system controls the mechanical arms of two travelling crane trolleys to carry out operation together, the program calls the A/B trolleys to respectively grab the required actuators, the A gripper and the B welding machine, and the A trolley grabs the reinforcing steel bars and attaches the reinforcing steel bars after the preparation work is finished. However, a fault may occur in the process of performing the operation by a, and the control system may detect the fault of the vehicle a and perform fault processing.
The embodiment of the invention also provides a fault processing method of the single-beam multi-vehicle-body traveling crane system, and the fault processing method can be independently controlled or can be used as a part of the operation control method to control the control system for monitoring the faults of the traveling crane unit and processing the faults. As shown in fig. 4, a fault handling method of a single-beam multi-vehicle-body traveling crane system according to an embodiment of the present invention may include:
step S401, monitoring the working state of each traveling crane trolley in the traveling crane system in the process that the control system controls one or more traveling crane trolleys to cooperatively execute specified traveling crane operation;
step S402, if the traveling crane system judges that any traveling crane trolley has a fault in the process of executing the specified traveling crane operation, judging the fault type of the fault;
and step S403, processing the fault by adopting a preset processing mode based on the fault type.
In the process of automatic operation of the crane system, if a simple fault occurs, fault information is sent to inform maintenance personnel to carry out maintenance, and if a serious fault occurs, normal operation of a single crane is influenced, other processing can be automatically carried out. By adopting different treatment measures for different fault types, the normal execution of the specified line hoisting operation of the line hoisting system can be ensured while the fault is treated in time.
Optionally, the step S403 may further include: if the fault is judged to belong to the traveling type fault, recording the current state information of the traveling crane trolley with the fault, then sending serious alarm information, and executing a first preset processing action; and if the fault is judged to belong to the end effector type fault, sending general alarm information and executing a second preset processing action. The driving faults can include the fault that the travelling crane trolley cannot travel, namely the fault that a servo motor with an actuator fails or the fault that the mechanical fault cannot travel and the like; end effector-like faults may include: communication failures, signal loss and/or damage to parts and components are failures of the equipment, such as trowelling machine, which implements the specific process.
In addition, the embodiment of the invention adopts a graded alarm system for faults and takes different processing actions for different alarm information. Executing a first preset processing action on the serious alarm information, which may include: and switching the travelling crane trolley to a preset standby position, and simultaneously replacing the travelling crane trolley with other idle travelling crane trolleys to continue operation. For example: two current A, B cars work simultaneously, when B car robotic arm broke down, servo control A dolly and B dolly laminating are carried out the virtual merge and are carried out the synchronous walking for the AB car, and B car lifting rod promotes to avoid interfering simultaneously, calls idle C car to replace B car and AB car combined operation after that.
The second preset processing action performed on the general alarm information may include: and repairing the failed travelling crane trolley according to the alarm priority and restarting. For example, the end effector of the traveling crane trolley with a fault can be reset according to the alarm priority; and/or moving the failed travelling crane trolley to a preset maintenance position for inspection and repair, and further judging whether to switch the end effector.
Faults can be classified by both the time and severity of the troubleshooting: simple faults, general faults and/or critical faults; simple faults include faults that can restore a normal operating state after reset restart operations; general faults include: loss of signal or line fault, etc.; serious failures include: mechanical impact or electrical damage, etc. The serious fault is treated preferentially by overhauling according to the alarm priority, so that the fault traveling crane is prevented from causing serious influence on the whole traveling crane operation.
As described above, for some faults, the current state information of the traveling crane trolley with the fault can be recorded, and the state information can include: the working state, the process information, the traveling position and the like of the traveling crane trolley with the fault are recorded, and then the state information of the traveling crane trolley with the fault can be returned to the remote control end for visual display so as to be convenient for the staff to check; if the fault traveling crane cannot work immediately, after waiting for other traveling cranes to finish self work, other traveling cranes are switched to the fault traveling crane pointer to take over the working state when the fault traveling crane stops to continue working, and therefore the smooth operation of the specified traveling crane operation by the traveling crane system is guaranteed.
The embodiment of the invention provides an efficient control method and a fault handling method for a single-beam multi-car body. And can also detect the barrier through the sensor in the implementation process, prevent to bump and influence the operation of hanging by crane in the driving motion process, carry out functions such as quality control to the operation of hanging by crane through image acquisition device. In addition, the embodiment of the invention also provides a fault processing method for the traveling crane system, which sets different processing modes for different types and different levels of faults so as to efficiently process the faults possibly occurring in the traveling crane system and further efficiently finish the specified traveling crane operation.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (11)
1. A single beam multi-car body traveling crane system comprising:
the system comprises a control system, a travelling crane cart and a plurality of travelling crane trolleys movably arranged on the travelling crane cart; wherein,
the crane cart comprises two horizontal guide rails which are arranged on the climbing frame in parallel and a cross beam which is erected between the two horizontal guide rails and can move along the horizontal guide rails;
the travelling crane trolley is movably arranged on a cross beam of the travelling crane trolley along the longitudinal direction and is used for carrying a travelling crane object;
and the control system is in communication connection with the plurality of travelling crane trolleys respectively, monitors faults of the trolleys and carries out fault treatment.
2. The traveling crane system as claimed in claim 1, wherein the traveling crane trolley is provided with a telescopic rod along the vertical direction, and the telescopic rod is provided with a mechanical arm which is used for connecting with an end effector.
3. The crane system as claimed in claim 1, wherein the crane trolley is provided with an image acquisition device mechanical arm, the image acquisition device mechanical arm is provided with an image acquisition device, the image acquisition device is electrically connected with the control system, and multi-angle photographing is realized through the image acquisition device mechanical arm.
4. The travelling crane system as claimed in any one of claims 1 to 3, wherein at least one end of the travelling crane trolley is provided with a sensor for detecting the distance of adjacent travelling crane trolleys to define the travel of adjacent travelling crane trolleys.
5. A fault handling method of a single-beam multi-car body traveling crane system, which is applied to the single-beam multi-car body traveling crane system of any one of claims 1 to 4, and comprises the following steps:
monitoring the working state of each traveling crane trolley in the traveling crane system in the process that the control system controls each traveling crane trolley in the one or more traveling crane trolleys to cooperatively execute the specified traveling crane operation;
if the traveling crane system judges that any traveling crane trolley has a fault in the process of executing the specified traveling crane operation, judging the fault type of the fault;
and processing the fault by adopting a preset processing mode based on the fault type.
6. The method according to claim 5, wherein the processing the fault in a preset processing manner based on the fault type includes:
if the fault is judged to belong to the traveling type fault, recording the current state information of the traveling crane trolley with the fault, then sending serious alarm information, and executing a first preset processing action;
and if the fault is judged to belong to the end effector type fault, sending general alarm information and executing a second preset processing action.
7. The method of claim 6, wherein the driving class fault comprises: the travelling crane trolley cannot travel;
the end effector-like fault includes: communication failures, signal loss, and/or component damage.
8. The method of claim 7, wherein the performing a first pre-set processing action comprises:
switching the travelling crane trolley to a preset waiting position, and simultaneously replacing the travelling crane trolley with other idle travelling crane trolleys to continue operation;
the executing of the second preset processing action comprises: and repairing the failed travelling crane trolley according to the alarm priority and restarting.
9. The method of claim 8, wherein the repairing the failed traveling crane trolley according to the alarm priority comprises:
resetting the tail end executor of the traveling crane trolley with the fault according to the alarm priority; and/or
And moving the crane trolley with the fault to a preset maintenance position for inspection and repair.
10. The method according to any of claims 5-9, wherein the method comprises, in normal operation:
receiving an operation instruction, which is input by a remote control end and aims at a traveling crane system of a single-beam multi-vehicle body to execute specified traveling crane operation on a target building, by the control system;
moving a traveling crane cart in the traveling crane system to a working area of the target building based on the operation instruction;
and selecting one or more traveling crane trolleys in the traveling crane system, and controlling the one or more traveling crane trolleys to cooperatively execute the specified traveling crane operation.
11. The method of claim 10, wherein the moving a hoist trolley in the hoist system to a work area of the target structure based on the operating instructions comprises:
constructing a three-dimensional coordinate system in a laser navigation mode, analyzing the operation instruction and determining an operation area for executing the specified travelling crane operation on the target building;
determining a first walking path of the crane cart and/or a second walking path of the crane trolley based on the three-dimensional coordinate system and the operation area;
and controlling the traveling crane cart and/or the traveling crane trolley to move according to the first traveling path and/or the second traveling path.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910261619.0A CN110104563A (en) | 2019-04-02 | 2019-04-02 | A kind of more car body row crane systems of single-beam and fault handling 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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| CN201910261619.0A CN110104563A (en) | 2019-04-02 | 2019-04-02 | A kind of more car body row crane systems of single-beam and fault handling method |
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