CN110407100A - A kind of crane remote anchoring system, control method and device - Google Patents
A kind of crane remote anchoring system, control method and device Download PDFInfo
- Publication number
- CN110407100A CN110407100A CN201910716163.2A CN201910716163A CN110407100A CN 110407100 A CN110407100 A CN 110407100A CN 201910716163 A CN201910716163 A CN 201910716163A CN 110407100 A CN110407100 A CN 110407100A
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- Prior art keywords
- crane
- anchoring
- anchor
- data processing
- processing module
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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
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
A kind of crane remote anchoring system, control method and device, the system include: the remote control terminal for sending control signal；For handling the crane data processing module of crane data；It is connect with the crane data processing module, the first data communication module for remote control terminal described in data connection；It is connect with the crane data processing module, for issuing the anchoring control module of anchoring control signal；It is connect with the anchoring control module, for being anchored the anchoring device of crane；The positioning device of crane and/or trolley anchor station for identification；For issuing the attention device of automatic job voice prompt.Crane remote anchoring system provided by the invention, compared to the prior art, it enables to operator to carry out crane remotely anchored, simple and quick anchoring positioning can be carried out to cart and/or trolley, the anchoring control mode for optimizing crane, improves the production efficiency of the crane.
Description
Technical field
The present invention relates to a kind of crane remote anchoring systems, belong to technical field of crane control.The invention further relates to
A kind of crane remote anchoring control method and a kind of anchoring device of crane.
Background technique
With the development of science and technology, the cargo of required transporting and hoisting is more and more, and the crane on the harbour of stockyard is got over
Come more.In the prior art, crane must drive in-house operation meeting by operator in the driving in-house operation of crane
There are many blind areas.And in routine maintenance procedure, when discovery crane is not anchored, needs operator to climb and return to driving
Retail sales crane is anchored by room, is very troublesome something.
And during remote control crane is anchored, in the prior art, operator is difficult that cart and/or trolley is quasi-
Really it is moved to anchor station.
Therefore, how a kind of crane remote anchoring system is provided, enables to operator to carry out crane long-range
Anchoring, simple and quick can carry out anchoring positioning to cart and/or trolley, optimize the anchoring control mode of crane, mention
The production efficiency of the high crane, is those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
In view of the above shortcomings of the prior art, the present invention enables to operator to carry out remotely anchored, energy to crane
It is enough simple and quick that anchoring positioning is carried out to cart and/or trolley, the anchoring control mode of crane is optimized, the lifting is improved
The production efficiency of machine.The present invention provides a kind of crane remote anchoring system, which includes: for sending the remote of control signal
Process control terminal；For handling the crane data processing module of crane data；Connect with the crane data processing module
It connects, the first data communication module for remote control terminal described in data connection；Connect with the crane data processing module
It connects, for issuing the anchoring control module of anchoring control signal；It is connect with the anchoring control module, for being anchored crane
Anchoring device；It is connect with the crane data processing module, crane and/or trolley anchor station are determined for identification
Position device；It is connect with the crane data processing module, for issuing the attention device of automatic job voice prompt.
According to the first embodiment of the present invention, a kind of crane remote anchoring system provided.
A kind of crane remote anchoring system, the system include: the remote control terminal for sending control signal；For
Handle the crane data processing module of crane data；It is connect with the crane data processing module, is used for data connection
First data communication module of the remote control terminal；It is connect with the crane data processing module, for issuing anchoring
Control the anchoring control module of signal；It is connect with the anchoring control module, for being anchored the anchoring device of crane；With it is described
Crane data processing module connects, for identification the positioning device of crane and/or trolley anchor station；With described
Heavy-duty machine data processing module connection, for issuing the attention device of automatic job voice prompt.
Further, as a kind of more preferably embodiment of the invention, the positioning device includes: to be arranged on ground
And/or on girder, be used to indicate anchor station to sensing device；It connect, is used for the crane data processing module
The identification monitoring sensor to sensing device；The monitoring sensor is arranged on the vehicle frame of cart and/or trolley；It is described
The quantity for monitoring sensor is N, and the quantity to sensing device is N, and N=1-100 is a.
Further, as one kind of the invention, more preferably embodiment, the positioning device include: and the lifting
Machine data processing module connects, for identification the travel switch of anchor station；It is arranged on ground and/or girder, is used to indicate
The travel switch trigger architecture of anchor station；The quantity of the travel switch is M, and the quantity of the travel switch trigger architecture is
M, M=1-100.
Further, as one kind of the invention, more preferably embodiment, the anchoring device include: along track side
To the anchor pad that in orbit and/or track two sides is arranged；Anchoring members for being connect with anchor pad；It is arranged in cart
And/or in car frame, for controlling the anchor mechanism of the anchoring members Yu the anchor pad connection relationship.
Further, as one kind of the invention, more preferably embodiment, anchoring members are connect specifically with anchor pad
To be provided with anchor hole above anchor pad；Anchoring members are column structure；Anchor mechanism controls anchoring members vertical direction and moves
Dynamic, anchoring members protrude into anchor hole.
Further, as more preferably embodiment of the invention a kind of, the system further include: setting cart and/
Or in car frame, the driving motor of the vehicle wheel rotation for driving cart and/or trolley；With the crane data processing mould
Block connection, for controlling the frequency converter of driving motor rotation direction and velocity of rotation；Connect with the crane data processing module
It connects, for braking the brake apparatus of cart and/or trolley.
Further, as a kind of more preferably embodiment of the invention, data communication module and the long-range control
Terminal data connects specifically, the remote control terminal includes: the terminal data processing mould for handling remote terminal data
Block；It is connect with the terminal data processing module, for receiving the command reception module of operator's crane job instruction；With
The terminal data processing module connection, for the second data communication mould with the first data communication module data connection
Block.
Further, as a kind of more preferably embodiment of the invention, the system further include: with the terminal data
Processing module connection, for showing the display module of crane job state.
Further, as a kind of more preferably embodiment of the invention, the system further include: with the crane number
It is connected according to processing module, for obtaining the crane operation instruction input mould of the job instruction of operator in crane operation room
Block.
According to the second embodiment of the present invention, a kind of crane remote anchoring control method provided.
A kind of crane remote anchoring control method or the crane remote applied to first embodiment are anchored control
Method, comprising the following steps:
1) anchoring control instruction is obtained；
2) the optimal anchor station information or specified anchor station information of cart and/or trolley recently are obtained；
3) according to optimal anchor station information or specified anchor station information driving cart and/or trolley close to optimal anchoring
Position or specified anchor station；
4) identification reaches anchor station, control anchoring device anchoring.
According to the third embodiment the present invention, a kind of anchoring device of the crane provided.
A kind of anchoring device of crane, the device include: anchor pad, anchoring members, anchor mechanism, anchoring completion knowledge
Other mechanism；The anchor pad is arranged on ground and/or girder, and anchor pad is located at crane and/or small track
The side in road；The anchoring members are arranged on the vehicle frame of cart and/or trolley；Cart and/or trolley is arranged in anchor mechanism
On vehicle frame, anchor mechanism control anchoring members move in the vertical direction, wherein it includes: that setting exists that identification mechanism is completed in anchoring
The trigger unit that on the vehicle frame of cart and/or trolley detection trigger device, is arranged on the anchoring members；Anchoring members fall
And when being fully connected with anchor pad, the detection trigger device detects the trigger unit, sends trigger signal.
It is specifically illustrated, in embodiments of the present invention, detection trigger device is the first monitoring sensor；Trigger unit is
First to sensing device.
It is specifically illustrated, in embodiments of the present invention, detection trigger device is first stroke switch；Trigger unit is
One stroke switch triggering mechanism.
It is specifically illustrated, in embodiments of the present invention, anchor mechanism is motor, and the shaft of motor passes through helicitic texture
It is connect with the upper end of anchoring members, machine shaft rotate driving anchoring members move up and down.
It is specifically illustrated, in embodiments of the present invention, anchor mechanism is calutron.
In the present invention, a kind of crane remote anchoring system is provided, which includes: for sending the remote of control signal
Process control terminal；For handling the crane data processing module of crane data；Connect with the crane data processing module
It connects, the first data communication module for remote control terminal described in data connection；Connect with the crane data processing module
It connects, for issuing the anchoring control module of anchoring control signal；It is connect with the anchoring control module, for being anchored crane
Anchoring device；It is connect with the crane data processing module, crane and/or trolley anchor station are determined for identification
Position device；It is connect with the crane data processing module, for issuing the attention device of automatic job voice prompt.The application relates to
And crane remote anchoring system remote control terminal outside crane is set to rising compared to existing technologies
Heavy-duty machine sends anchoring command signal.The crane data processing module of crane receives anchoring by the first data communication module and refers to
Enable signal.Positioning device feeds back whether current location is anchor station, when the cart and/or trolley of crane are moved to positioning of anchor
It sets, crane data processing module sends anchoring control signal by anchoring control module and is given to anchoring device, by anchoring device
Cart and/or trolley are anchored.Application scheme enables to operator to carry out crane remotely anchored, can be simple
Anchoring positioning quickly is carried out to cart and/or trolley, the anchoring control mode of crane is optimized, improves the life of the crane
Produce efficiency.
Detailed description of the invention
Fig. 1 is the overall structure diagram of crane remote anchoring system in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of crane remote anchoring system anchoring device in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of crane remote anchoring system positioning device in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of crane remote anchoring system remote control terminal in the embodiment of the present invention.
A: remote control terminal；A1: terminal data processing module；A2: command reception module；A3: the second data communication mould
Block；1: crane data processing module；2: the first data communication modules；3: anchoring control module；4: anchoring device；401: anchoring
Pedestal；402: anchoring members；403: anchor mechanism；5: positioning device；501: to sensing device；502: monitoring sensor；503:
Travel switch；504: travel switch trigger architecture；6: driving motor；7: frequency converter；8: brake apparatus；A4: display module；9: rising
Heavy-duty machine operational order input module；10: attention device.
Specific embodiment
In order to make those skilled in the art more fully understand the technical solution in the application, below in conjunction with the application reality
The technical scheme in the embodiment of the application is clearly and completely described for the attached drawing for applying in example, it is clear that described embodiment
Only a part of the embodiment of the application, instead of all the embodiments.Based on the embodiment in the application, this field is common
Technical staff's every other embodiment obtained without making creative work belongs to the model of the application protection
It encloses.
It should be noted that it can directly exist when element is referred to as on " being fixed on " or " being set to " another element
On another element or indirectly setting on the other element；When an element is known as " being connected to " another element,
It can be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", under ", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of description the application and simplifies description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.It is multiple in the description of the present application ", " several " be meant that two or
Two or more, unless otherwise specifically defined.
It should be clear that structure depicted in this specification attached drawing, ratio, size etc., only to cooperate specification revealed
Content is not limited to the enforceable qualifications of the application, therefore does not have so that those skilled in the art understands and reads
Technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the application institute energy
Under the effect of generation and the purpose that can reach, it should all still fall in techniques disclosed in this application content and obtain the range that can cover
It is interior.
According to the first embodiment of the present invention, a kind of crane remote anchoring system provided.
A kind of crane remote anchoring system, the system include: the remote control terminal A for sending control signal；With
In the crane data processing module 1 of processing crane data；It is connect with the crane data processing module 1, is used for data
Connect the first data communication module 2 of the remote control terminal A；It is connect with the crane data processing module 1, for sending out
The anchoring control module 3 of anchoring control signal out；It is connect with the anchoring control module 3, the anchoring for being anchored crane fills
Set 4；It is connect with the crane data processing module 1, for identification the positioning dress of crane and/or trolley anchor station
Set 5；It is connect with the crane data processing module 1, for issuing the attention device 10 of automatic job voice prompt.
Such as scheme a kind of crane remote anchoring system of the present invention, which includes: for sending control signal
Remote control terminal A；For handling the crane data processing module 1 of crane data；With the crane data processing mould
Block 1 connects, the first data communication module 2 for remote control terminal A described in data connection；With the crane data processing
Module 1 connects, for issuing the anchoring control module 3 of anchoring control signal；It is connect with the anchoring control module 3, is used for anchor
Determine the anchoring device 4 of crane；It is connect with the crane data processing module 1, for identification crane and/or trolley
The positioning device 5 of anchor station；It is connect with the crane data processing module 1, for issuing automatic job voice prompt
Attention device 10.Crane remote anchoring system provided by the present application is arranged in outside crane compared to existing technologies
Remote control terminal A sends anchoring command signal to crane.The crane data processing module 1 of crane passes through the first data
Communication module 2 receives anchoring command signal.Positioning device 5 feeds back whether current location is anchor station, when the cart of crane
And/or trolley is moved to anchor station, crane data processing module 1 sends anchoring control signal by anchoring control module 3
It is given to anchoring device 4, is anchored cart and/or trolley by anchoring device 4.It is all to crane by attention device in operation process
It encloses region and sends alarm signal, nearby staff, crane are carrying out remote control operation for prompting.Application scheme, energy
Enough so that operator is remotely anchored to crane progress, simple and quick anchoring positioning can be carried out to cart and/or trolley,
The anchoring control mode for optimizing crane, improves the production efficiency of the crane.
It should be further noted that crane data processing module 1 is specially PLC controller.
It is specifically illustrated, in embodiments of the present invention, the positioning device 5 includes: to be arranged in ground and/or girder
On, be used to indicate anchor station to sensing device 501；It is connect with the crane data processing module 1, for identification institute
State the monitoring sensor 502 to sensing device 501；The monitoring sensor 502 is arranged on the vehicle frame of cart and/or trolley；
The quantity of the monitoring sensor 502 is N, and the quantity to sensing device 501 is N, and N=1-100 is a.
It should be noted that positioning device 5 is one kind for facilitating cart and/or trolley to be directed at anchor station when being anchored
Device, positioning device 5 are provided with following several schemes.
When anchor station only one when, to sensing device 501 can be one, can also be multiple.Wherein, just when wait incude
When device 501 is 1, when the position of mobile cart and/or trolley makes positioning device 5 persistently send positioning successful signal,
Indicate that cart and/or trolley position successfully, i.e. on anchor station, driving anchoring device 4 is anchored cart and/or trolley
Cart and/or trolley are anchored.In addition, when sensing device 501 is multiple, to sensing device 501 along track in positioning of anchor
The arranged on both sides set, monitoring sensor 502 cooperate real-time monitoring cart and/or trolley carrying out with multiple to sensing device 501
The distance of Relative anchor locations when anchoring, process are conducive to control in the middle the movement speed of cart and/or trolley.
It is multiple to sensing device 501 when anchor station is multiple.Each waits for the corresponding anchor of sensing device 501
Positioning is set, and when the position of mobile cart and/or trolley makes positioning device 5 persistently send positioning pass signal, indicates cart
And/or trolley positions successfully, i.e., cart and/or trolley reach this on the corresponding anchor station of sensing device 501.Driving
Cart and/or trolley can be anchored by the anchoring of anchoring device 4.
It needs more further to illustrate, monitors sensor 502 and to pass through Radio Frequency Identification Technology between sensing device 501
(RFID) connection induction.
Specifically be illustrated, in embodiments of the present invention, the positioning device 5 include: at the crane data
It manages module 1 to connect, for identification the travel switch 503 of anchor station；It is arranged on ground and/or girder, is used to indicate anchoring
The travel switch trigger architecture 504 of position；The quantity of the travel switch 503 is M, the travel switch trigger architecture 504
Quantity is M, and M=1-100 is a.
It should be noted that the side pushed between 503 trigger mechanism of travel switch 503 and travel switch by physical contact
Formula interaction feeds back location information with this.The combination implementation of 503 trigger mechanism of travel switch 503 and travel switch
With effect with monitoring sensor 502, to sensing device 501 combination it is consistent.
It is specifically illustrated, in embodiments of the present invention, the anchoring device 4 includes: to exist along orbital direction setting
The anchor pad 401 of on track and/or track two sides；Anchoring members 402 for being connect with anchor pad 401；It is arranged big
On vehicle and/or car frame, for controlling the anchor mechanism of the anchoring members 402 and 401 connection relationship of anchor pad
403。
It is specifically illustrated, in embodiments of the present invention, anchoring members 402 are connect with anchor pad 401 specifically, anchor
Determine to be provided with anchor hole above pedestal 401；Anchoring members 402 are column structure；It is perpendicular that anchor mechanism 403 controls anchoring members 402
Histogram protrudes into anchor hole to movement, anchoring members 402.
It should be noted that anchoring driving device controls anchoring members by driving anchor mechanism 403 in anchoring device 4
402 move up and down, so that anchoring members 402 are extend into anchor hole, complete the movement of anchoring；Or make anchoring members
402 stretch out anchor hole, complete the movement for releasing anchoring.Structure simply can be improved anchoring efficiencies.
Specifically it is illustrated, in embodiments of the present invention, the system further include: be arranged in cart and/or car frame
On, the driving motor 6 of the vehicle wheel rotation for driving cart and/or trolley；It is connect with the crane data processing module 1,
For controlling the frequency converter 7 of 6 rotation direction of driving motor and velocity of rotation；It connect, uses with the crane data processing module 1
In braking cart and/or the brake apparatus 8 of trolley.
It should be noted that alternating current of the crane data processing module 1 by control 7 output frequency of frequency converter variation,
To control steering, speed and the torque of driving motor 6.So that the crane anchoring process is more smoothly.In the prior art,
Since driving motor 6 is alternating current, driving motor 6 is constant speed driving, causes cart and/or trolley to travel pause and transition in rhythm or melody, does not allow
It is easy to control.
Specifically it is illustrated, in embodiments of the present invention, data communication module and the remote control terminal A data
Connection is specifically, the remote control terminal A includes: the terminal data processing modules A 1 for handling remote terminal data；With
The terminal data processing modules A 1 connects, for receiving the command reception module A2 of operator's crane job instruction；With
The terminal data processing modules A 1 connects, for the second data communication with 2 data connection of the first data communication module
Modules A 3.
It should be noted that remote control terminal A is connect by the second data communication module A3 with the first communication module, it should
Connection can be wired forms, or wireless.Wired forms include: light, communication cable etc., wireless packet
It includes: bluetooth, ZigBee, WiFi, 4G, 5G etc..
It should be further noted that the connection type between remote control terminal A and crane can also be, for handling
The terminal data processing modules A 1 of remote control terminal A command information is PLC controller, for handling the lifting of crane data
Machine data processing module 1 is also PLC controller.Data transmission between the two is remotely operating indoor center by setting
Server carries out data processing.That is, the system further include: with terminal data processing modules A 1, crane data processing
Module 1 connects, for handling the remote operation room central server of data.In scheme described in this paragraph, terminal data processing mould
What block A1 and crane data processing module 1 carried out is the processing of command signal.
It should be noted that command reception module A2 includes two buttons being arranged in remote console or long-range
Two keys on the control panel of station, two buttons or key indicate anchoring and release two job instructions of anchoring.
Specifically it is illustrated, in embodiments of the present invention, the system further include: with the terminal data processing modules A 1
Connection, for showing the display module A4 of crane job state.
It should be noted that display module A4 further include: the display screen and indicator light of remote operation room is arranged in；Number of terminals
The real time data of crane is fed back by display screen according to processing module A1.Terminal data processing modules A 1 is by crane
Real-time running state is shown by indicator light.
It should be further noted that the system further include: connect with the crane data processing module 1, for adopting
Collect the image capture module of crane job image；The data of image capture module acquisition pass through 2 He of the first data communication module
Second data classmate's module is sent to terminal data processing modules A 1.Image capture module can also collect in anchoring device 4,
Whether anchoring members 402 are to the image of its anchor hole.To judge whether anchoring succeeds.
Specifically it is illustrated, in embodiments of the present invention, the system further include: with the crane data processing module
1 connection, for obtaining the crane operation instruction input module 9 of the job instruction of operator in crane operation room.
It should be noted that operator passes through the crane operation instruction input module being arranged in crane operation room
9, anchoring operation can be carried out to crane in crane operation room.
According to the second embodiment of the present invention, a kind of crane remote anchoring control method provided.
A kind of crane remote anchoring control method or the crane remote applied to first embodiment are anchored control
Method, comprising the following steps:
1) anchoring control instruction is obtained；
2) the optimal anchor station information or specified anchor station information of cart and/or trolley recently are obtained；
3) according to optimal anchor station information or specified anchor station information driving cart and/or trolley close to optimal anchoring
Position or specified anchor station；
4) identification reaches anchor station, and control anchoring device 4 is anchored.
It should be noted that automatically the cart of retail sales crane and/or trolley can be anchored by the above method
Optimal anchor station or specified anchor station.
It should be further noted that optimal anchor station can be nearest apart from current crane and/or trolley
Anchor station, or, can satisfy the maximum anchor station for passing through space below crane.
According to the third embodiment the present invention, a kind of anchoring device of the crane provided.
A kind of anchoring device 4 of crane, the device include: anchor pad 401, anchoring members 402, anchor mechanism 403,
Identification mechanism 404 is completed in anchoring；The anchor pad 401 is arranged on ground and/or girder, and anchor pad 401 is located at
The side of heavy-duty machine cart and/or trolley track；The anchoring members 402 are arranged on the vehicle frame of cart and/or trolley；Anchor mechanism
403 are arranged on the vehicle frame of cart and/or trolley, and anchor mechanism 403 controls anchoring members 402 and moves in the vertical direction,
Wherein, it includes: the detection trigger device being arranged on the vehicle frame of cart and/or trolley that identification mechanism 404 is completed in anchoring
40401, the trigger unit 40402 on the anchoring members 402 is set；Anchoring members 402 fall and it is complete with anchor pad 401
When full connection, the detection trigger device 40401 detects the trigger unit 40402, sends trigger signal.
It should be noted that cart and/or trolley are moved to anchor station when retail sales crane needs to be anchored.At this time
Anchoring members 402 are located at the top of anchor pad 401.Anchoring members 402 move down under the control of anchor mechanism 403, with
Anchor pad 401 connects.Anchor pad 401 limits displacement of the anchoring members 402 on cart and/or trolley moving direction, from
And crane is made to complete anchoring movement.When anchoring members 402 fall completely, and are fully connected with anchor pad 401, triggering
Detector 40401 detects the trigger unit 40402 being arranged on anchoring members 402, indicates anchoring members 402 and anchor pad
401 are fully connected.Detection trigger device 40401 issues anchoring pass signal；If trigger does not issue anchor after executing anchoring movement
Determine pass signal, illustrates not to be anchored success.Application scheme can, enable to operator accurately know anchoring it is whether complete
At, simple and quick anchoring positioning can be carried out to cart and/or trolley, optimize the anchoring control mode of crane, raising
The anchoring efficiencies of the crane.
Need to remember that you illustrate a step, in first scheme about anchor pad 401 and 402 structure of anchoring members
In, anchor pad 401 is specially anchoring hole, and near coal-mine upward；Anchoring members 402 are cylinder straight down.Anchoring members 402
It is deep into anchoring hole, represents anchoring and complete.
At second about in the scheme of anchor pad 401 and 402 structure of anchoring members, anchor pad 401 is specially to set
The protrusion structure on ground and/or girder is set, whole anchoring members 402 are still cylinder, but the lower end of anchor mechanism 403 has
For making the storage mouth of prominent structure insertion.When anchoring connecting column falls, storage mask is located at outside prominent structure, to be anchored
At.
It should be noted that the device further includes crane data processing module 1, crane data processing module 1 and anchor
Surely the connection of identification mechanism signal is completed, anchoring is received and completes the anchoring pass signal that identification mechanism issues.Crane data processing
Module 1 is connect with anchor mechanism signal, issues the control instruction that driving anchor mechanism executes.
It is specifically illustrated, in embodiments of the present invention, detection trigger device 40401 is the first monitoring sensor；Triggering
Component 40402 is first to sensing device.
It should be noted that using Radio Frequency Identification Technology between the first monitoring sensor and first band sensing device
(RFID) connection induction.
It is specifically illustrated, in embodiments of the present invention, detection trigger device 40401 is first stroke switch；Trigger unit
Part 40402 is first stroke switch triggering mechanism.
It should be noted that pushed between first stroke switch and first stroke switch triggering mechanism by physical contact
Mode interacts, and feeds back location information with this.
It is specifically illustrated, in embodiments of the present invention, anchor mechanism 403 is motor, and the shaft of motor passes through screw thread
Structure is connect with the upper end of anchoring members 402, and machine shaft rotate driving anchoring members 402 move up and down.
It is specifically illustrated, in embodiments of the present invention, anchor mechanism 403 is calutron.
It should be noted that calutron when being powered, attracts anchoring members, anchoring members and anchor pad point
It opens.When calutron power-off, anchoring members fall automatically, connect with anchor pad.
Embodiment 1
A kind of crane remote anchoring system, the system include: the remote control terminal A for sending control signal；With
In the crane data processing module 1 of processing crane data；It is connect with the crane data processing module 1, is used for data
Connect the first data communication module 2 of the remote control terminal A；It is connect with the crane data processing module 1, for sending out
The anchoring control module 3 of anchoring control signal out；It is connect with the anchoring control module 3, the anchoring for being anchored crane fills
Set 4；It is connect with the crane data processing module 1, for identification the positioning dress of crane and/or trolley anchor station
Set 5；It is connect with the crane data processing module 1, for issuing the attention device 10 of automatic job voice prompt.
Embodiment 2
Embodiment 1 is repeated, only the positioning device 5 includes: to be arranged on ground and/or girder, is used to indicate anchor
Position set to sensing device 501；It is connect with the crane data processing module 1, it is described to sensing device 501 for identification
Monitoring sensor 502；The monitoring sensor 502 is arranged on the vehicle frame of cart and/or trolley；The monitoring sensor
502 quantity is N, and the quantity to sensing device 501 is N, and N=2 is a.
Embodiment 3
Embodiment 1 is repeated, only the positioning device 5 includes: to be arranged on ground and/or girder, is used to indicate anchor
Position set to sensing device 501；It is connect with the crane data processing module 1, it is described to sensing device 501 for identification
Monitoring sensor 502；The monitoring sensor 502 is arranged on the vehicle frame of cart and/or trolley；The monitoring sensor
502 quantity is N, and the quantity to sensing device 501 is N, and N=10 is a.
Embodiment 4
Embodiment 1 is repeated, only the positioning device 5 includes: to connect with the crane data processing module 1, is used for
Identify the travel switch 503 of anchor station；It is arranged on ground and/or girder, is used to indicate the travel switch touching of anchor station
Send out structure 504；The quantity of the travel switch 503 is M, and the quantity of the travel switch trigger architecture 504 is M, and M=2 is a.
Embodiment 5
Embodiment 1 is repeated, only the positioning device 5 includes: to connect with the crane data processing module 1, is used for
Identify the travel switch 503 of anchor station；It is arranged on ground and/or girder, is used to indicate the travel switch touching of anchor station
Send out structure 504；The quantity of the travel switch 503 is M, and the quantity of the travel switch trigger architecture 504 is M, and M=10 is a.
Embodiment 6
Embodiment 2 is repeated, only the anchoring device 4 includes: that in orbit and/or track is arranged along orbital direction
The anchor pad 401 of two sides；Anchoring members 402 for being connect with anchor pad 401；It is arranged in cart and/or car frame
On, for controlling the anchor mechanism 403 of the anchoring members 402 and 401 connection relationship of anchor pad.
Embodiment 7
Embodiment 6 is repeated, only anchoring members 402 are connect specifically, setting above anchor pad 401 with anchor pad 401
It is equipped with anchor hole；Anchoring members 402 are column structure；Anchor mechanism 403 controls the movement of 402 vertical direction of anchoring members, anchoring
Component 402 protrudes into anchor hole.
Embodiment 8
Embodiment 7 is repeated, only the system further include: be arranged on cart and/or car frame, for driving cart
And/or the driving motor 6 of the vehicle wheel rotation of trolley；It is connect with the crane data processing module 1, for controlling driving motor
The frequency converter 7 of 6 rotation directions and velocity of rotation；Connect with the crane data processing module 1, for brake cart and/or
The brake apparatus 8 of trolley.
Embodiment 9
Embodiment 8 is repeated, only data communication module and the remote control terminal A data connection are specifically, described remote
Process control terminal A includes: the terminal data processing modules A 1 for handling remote terminal data；With the terminal data processing mould
Block A1 connection, for receiving the command reception module A2 of operator's crane job instruction；With the terminal data processing mould
Block A1 connection, for the second data communication module A3 with 2 data connection of the first data communication module.
Embodiment 10
Embodiment 9 is repeated, only the system further include: connect with the terminal data processing modules A 1, for showing
The display module A4 of heavy-duty machine job state.
Embodiment 11
Embodiment 10 is repeated, only the system further include: connect with the crane data processing module 1, for obtaining
The crane operation instruction input module 9 of the job instruction of operator in crane operation room.
Embodiment 12
A kind of crane remote anchoring control method or the crane remote applied to first embodiment are anchored control
Method, comprising the following steps:
1) anchoring control instruction is obtained；
2) the optimal anchor station information or specified anchor station information of cart and/or trolley recently are obtained；
3) according to optimal anchor station information or specified anchor station information driving cart and/or trolley close to optimal anchoring
Position or specified anchor station；
4) identification reaches anchor station, and control anchoring device 4 is anchored.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of crane remote anchoring system, which is characterized in that the system includes:
For sending the remote control terminal of control signal；
For handling the crane data processing module of crane data；
It is connect with the crane data processing module, the first data communication mould for remote control terminal described in data connection
Block；
It is connect with the crane data processing module, for issuing the anchoring control module of anchoring control signal；
It is connect with the anchoring control module, for being anchored the anchoring device of crane；
It is connect with the crane data processing module, for identification the positioning dress of crane and/or trolley anchor station
It sets；
It is connect with the crane data processing module, for issuing the attention device of automatic job voice prompt.
2. crane remote anchoring system according to claim 1, which is characterized in that the positioning device includes: setting
On ground and/or girder, be used to indicate anchor station to sensing device；Connect with the crane data processing module
It connects, for identification the monitoring sensor to sensing device；The vehicle frame of cart and/or trolley is arranged in the monitoring sensor
On；The quantity of the monitoring sensor is N, and the quantity to sensing device is N, and N=1-100 is a.
3. crane remote anchoring system according to claim 1, which is characterized in that the positioning device includes: and institute
The connection of crane data processing module is stated, for identification the travel switch of anchor station；It is arranged on ground and/or girder, uses
Travel switch trigger architecture in instruction anchor station；The quantity of the travel switch is M, the travel switch trigger architecture
Quantity is M, and M=1-100 is a.
4. crane remote anchoring system according to any one of claim 1-3, which is characterized in that the anchoring device
It include: that in orbit and/or track two sides anchor pads are set along orbital direction；Anchoring for being connect with anchor pad
Component；It is arranged on cart and/or car frame, for controlling the anchor of the anchoring members Yu the anchor pad connection relationship
Determine mechanism.
5. crane remote anchoring system according to claim 4, which is characterized in that anchoring members are connect with anchor pad
Specifically, being provided with anchor hole above anchor pad；Anchoring members are column structure；Anchor mechanism controls anchoring members side vertically
To movement, anchoring members are protruded into anchor hole.
6. crane remote anchoring system described in any one of -3,5 according to claim 1, which is characterized in that the system is also wrapped
It includes: being arranged on cart and/or car frame, the driving motor of the vehicle wheel rotation for driving cart and/or trolley；With it is described
Crane data processing module connection, for controlling the frequency converter of driving motor rotation direction and velocity of rotation；With the lifting
Machine data processing module connection, for braking the brake apparatus of cart and/or trolley.
7. crane remote anchoring system according to claim 6, which is characterized in that data communication module and described long-range
Controlling terminal data connection is specifically, the remote control terminal includes: for handling at the terminal data of remote terminal data
Manage module；It is connect with the terminal data processing module, for receiving the command reception mould of operator's crane job instruction
Block；It is connect with the terminal data processing module, for logical with the second data of the first data communication module data connection
Interrogate module.
8. crane remote anchoring system according to claim 7, which is characterized in that the system further include: with the end
End data processing module connection, for showing the display module of crane job state；And/or
The system further include: connect with the crane data processing module, for obtaining operator in crane operation room
Job instruction crane operation instruction input module.
9. a kind of crane remote anchoring control method or the crane remote applied to any one of claim 1-9 are anchored control
Method processed, which comprises the following steps:
1) anchoring control instruction is obtained；
2) the optimal anchor station information or specified anchor station information of cart and/or trolley recently are obtained；
3) according to optimal anchor station information or specified anchor station information driving cart and/or trolley close to optimal anchor station
Or specified anchor station；
4) identification reaches anchor station, control anchoring device anchoring.
10. a kind of anchoring device of crane, which is characterized in that the device include: anchor pad, anchoring members, anchor mechanism,
Identification mechanism is completed in anchoring；The anchor pad is arranged on ground and/or girder, and anchor pad is located at crane
The side of trolley track and/or；The anchoring members are arranged on the vehicle frame of cart and/or trolley；Anchor mechanism is arranged in cart
And/or on the vehicle frame of trolley, anchor mechanism control anchoring members move in the vertical direction, wherein identification mechanism is completed in anchoring
It include: the detection trigger device being arranged on the vehicle frame of cart and/or trolley, the trigger unit being arranged on the anchoring members；
When anchoring members fall and are fully connected with anchor pad, the detection trigger device detects the trigger unit, sends triggering
Signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910716163.2A CN110407100A (en) | 2019-08-05 | 2019-08-05 | A kind of crane remote anchoring system, control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910716163.2A CN110407100A (en) | 2019-08-05 | 2019-08-05 | A kind of crane remote anchoring system, control method and device |
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| CN110407100A true CN110407100A (en) | 2019-11-05 |
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ID=68365670
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910716163.2A Pending CN110407100A (en) | 2019-08-05 | 2019-08-05 | A kind of crane remote anchoring system, control method and device |
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| CN207175259U (en) * | 2017-06-21 | 2018-04-03 | 欧浦智网股份有限公司 | A kind of bridge crane tele-control system |
| CN207932921U (en) * | 2018-03-16 | 2018-10-02 | 中船第九设计研究院工程有限公司 | A kind of gantry crane trolley walking mechanism automatic anchoring device thereof |
| CN208631957U (en) * | 2018-07-30 | 2019-03-22 | 青岛海西重机有限责任公司 | A kind of automatic anchor mechanism of crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59158787A (en) * | 1983-03-02 | 1984-09-08 | 株式会社日立製作所 | Anchor receiver |
| CN201172583Y (en) * | 2008-03-20 | 2008-12-31 | 上海港机重工有限公司 | Anchor for carriage |
| CN201850067U (en) * | 2010-10-30 | 2011-06-01 | 常州基腾电气有限公司 | Automatic remote-control rotary anchoring device |
| CN201864485U (en) * | 2010-11-12 | 2011-06-15 | 卫华集团有限公司 | Three-dimensional configurable simulation control system of crane |
| CN207175259U (en) * | 2017-06-21 | 2018-04-03 | 欧浦智网股份有限公司 | A kind of bridge crane tele-control system |
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