CN111392579A - Dead weight type clamp detection system and detection method for slab unmanned overhead traveling crane - Google Patents
Dead weight type clamp detection system and detection method for slab unmanned overhead traveling crane Download PDFInfo
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- CN111392579A CN111392579A CN202010176061.9A CN202010176061A CN111392579A CN 111392579 A CN111392579 A CN 111392579A CN 202010176061 A CN202010176061 A CN 202010176061A CN 111392579 A CN111392579 A CN 111392579A
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
- B66C1/442—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces actuated by lifting force
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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
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a dead weight type clamp detection system and a detection method for a slab unmanned overhead traveling crane. The detection method can transform the common dead weight type clamp into the unmanned slab crane clamp suitable for unmanned driving through the transformation of the sensor and the new program, thereby reducing the number of workers, enhancing the safety, avoiding slab lifting and falling accidents caused by the falling of the opening and closing device, providing necessary equipment and conditions for the realization of the slab crane system, and being important equipment which is indispensable for the unmanned guard of the crane.
Description
Technical Field
The application belongs to the technical field of crown block clamps, and particularly relates to a dead weight type clamp detection system and a detection method for a slab unmanned crown block.
Background
Slab tongs are generally divided into external force type tongs and gravity type tongs. Because the gravity type clamp does not need external force, has simple structure, light dead weight and the like, the domestic market share is higher and higher at present. With the wide popularization of the dead-weight clamp, the defects are gradually exposed. More and more enterprises in China are developing and popularizing the crown block without people, and the dead weight type clamp has no electric control part, so that the remarkable force is not apprehended in the aspect of automatic detection. Even if a detection sensor is added to a part of dead weight type clamp, the sensor is easy to damage or a false signal is easy to appear due to high slab temperature in the slab lifting process.
Disclosure of Invention
The invention provides a dead weight type clamp detection system and a detection method for a slab unmanned overhead travelling crane, which can accurately detect the slab width clamped by a clamp in any occasion, and can send out an alarm signal in time when the slab falls off or is not clamped, so that the clamp is prevented from being continuously lifted to cause larger accidents.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
a deadweight type clamp detection system for a slab unmanned overhead crane comprises an upper cross beam, a lower cross beam, clamp arms and an opening and closing device, wherein the detection system comprises a laser range finder mounting support arranged on the bottom end face of the upper cross beam, a laser range finder arranged on the laser range finder mounting support, two steel wire ropes arranged at the top end of the upper cross beam at intervals, an overhead crane cart arranged above the upper cross beam, an overhead crane trolley arranged on the overhead crane cart, a hoisting clutch A and a hoisting clutch B arranged on the overhead crane trolley at intervals and respectively connected with the corresponding steel wire ropes, a clamp height encoder A and a clamp height encoder B respectively arranged on the side walls of the hoisting clutch A and the hoisting clutch B, a laser reflection plate arranged at the top end of the lower cross beam, and an unmanned overhead crane processing system connected with the clamp height encoder A, the clamp height encoder B and the laser range finder, And the laser reflecting plate is positioned right below the laser range finder and corresponds to the laser range finder.
The technical scheme of the invention is further improved in that the unmanned overhead travelling crane processing system is a singlechip or P L C, and the alarm device is an audible and visual alarm.
The technical scheme of the invention is further improved as follows: and the clamp height encoder A and the clamp height encoder B both adopt absolute value encoders.
The technical scheme of the invention is further improved as follows: the clamp arms are arranged on the upper cross beam and the lower cross beam and are of symmetrical structures and located on the left side and the right side of the upper cross beam and the lower cross beam, the clamp arms on each side respectively comprise two clamp large arms movably connected to the bottom end of the upper cross beam through pin shafts, two clamp middle arms movably connected with the other ends of the two clamp large arms in a crossed mode, and two clamp small arms movably connected with the other ends of the two clamp middle arms in a corresponding mode, the lower cross beam is symmetrically provided with two rotating shafts along the length direction of the lower cross beam, and the rotating shafts are connected with the corresponding clamp middle arms and the corresponding clamp small arms.
The technical scheme of the invention is further improved as follows: the free end of each clamp small arm is provided with a hand grip which is arranged in an inward inclining mode.
The technical scheme of the invention is further improved as follows: the inclination angle degree of the hand grip is more than or equal to 90 degrees.
The technical scheme of the invention is further improved as follows: the opening and closing device is arranged on the bottom end face of the upper cross beam and located on one side of the laser range finder mounting support, and the opening and closing device is used for locking and opening the dead weight type clamp.
The technical scheme of the invention is further improved as follows: the opening and closing device is positioned in the middle of the bottom end of the upper cross beam.
A detection method of a dead weight type clamp detection system for a slab unmanned overhead traveling crane is used for calculating the width of a slab, judging whether a dead weight type clamp is balanced or not and judging the state of an opening and closing device, and comprises the following specific steps:
s1: measuring the length a of a large arm of the clamp, the length b of a middle arm of the clamp, the length c of a small arm of the clamp and the length l of a lower cross beam by using a measuring tape;
s2: in the known structure of the dead weight type clamp, an included angle between a small clamp arm and a middle clamp arm is set as theta;
s3: after the opening and closing device of the clamp is closed, the clamp is dropped on the horizontal ground, and the clamp height encoder A and the clamp height encoder B are calibrated and are calibrated to be the same numerical value; then reading the numerical value of the laser range finder to obtain the height difference h between the upper beam and the lower beam after the opening and closing device is closed;
s4: calculating the length d of a straight line between two AC points according to the Pythagorean theorem,
the connecting vertex of the large arm and the upper beam of the clamp is A, and the connecting shaft point of the middle arm and the small arm of the clamp is C;
s5: calculating an included angle omega between the AC connecting line and the lower beam according to the trigonometric function,
；
s6: calculating the included angle lambda between the AC connecting line and the clamp middle arm 16 according to the cosine law,
；
s7, subtracting from S5 and S6, and calculating an included angle β = omega-lambda between the middle arm and the lower cross beam of the clamp;
s8, calculating an included angle α = theta-90- β between the small arm of the clamp and the plumb line according to the known angle theta in S2 and the calculated angle β in S7;
s9. since the length of the lower beam is known as l in S1, the open jaw width L, i.e., the slab width L,
；
s10: monitoring the laser range finder under the condition that the opening and closing device is locked, if the numerical value changes by more than 20cm, indicating that the opening and closing device is tripped, immediately sending a lifting stopping command, and then dropping a hook again for locking;
s11: in the working process of the clamp, comparing the numerical difference values of the clamp height encoder A and the clamp height encoder B in real time, if the difference value is larger than 5cm, indicating that the clamp is unbalanced, and alarming to wait for the processing of maintenance personnel;
s12: if the clamp is actually balanced and the numerical values of the clamp height encoder A and the clamp height encoder B have difference values, an alarm is given to remind an operator to calibrate the encoders again.
The technical scheme of the invention is further improved as follows: the angle of theta is measured by the protractor to be 100-150 deg.
Due to the adoption of the technical scheme, the invention has the beneficial effects that: the invention can calculate the width of the plate blank, judge whether the dead weight type clamp is balanced or not and check the state of the opening and closing device. Can reform transform into the unmanned overhead traveling crane clamp of slab that is applicable to unmanned through sensor transformation and procedure download ordinary dead weight formula clamp, when reducing workman's number, more strengthened the security, avoided because of switching device drops and leads to slab hoist and mount the accident that drops, for the realization of unmanned overhead traveling crane system of slab provides essential equipment and condition, is the essential important equipment of overhead traveling crane unmanned on duty.
Drawings
FIG. 1 is a schematic front view of a detection system of the present invention;
FIG. 2 is a side schematic view of the detection system of the present invention;
fig. 3 is a schematic diagram of a slab width calculation method of the detection method of the present invention.
Wherein: 1. the device comprises an upper beam, a lower beam, a pair of 3, clamping arms, a pair of 4, an opening and closing device, a pair of 5, hoisting clutches A, 6, clamp height encoders A, 7, hoisting clutches B, 8, clamp height encoders B, 9, a laser range finder mounting bracket, a pair of 10, a laser range finder, a pair of 11, a laser reflection plate, a pair of 12, a steel wire rope, a pair of 13, a crown block cart, a pair of 14, a crown block cart, a pair of 15, a pair of clamp large arms, a pair of 16, a pair of clamp middle arms, a pair of clamp small arms, a pair of clamp large arm vertexes, a pair of clamp large arm and clamp middle arm connecting shaft point, and a pair of clamp middle arms and clamp;
a. the length of a large clamp arm, the length of a middle clamp arm, the length of a small clamp arm, the length of d and AC connecting lines, the vertical height from h and A to a lower cross beam, the length of l and the lower cross beam, L, the width of a plate blank, the included angle between α and the small clamp arm and a plumb line, the included angle between theta and the small clamp arm and the middle clamp arm, the included angle between β and the middle clamp arm and the lower cross beam, the included angle between lambda and the middle clamp arm and the AC connecting lines, and the included angle between omega and the AC connecting lines and the lower cross beam.
Detailed Description
The present invention will be described in further detail with reference to examples.
The invention discloses a dead weight type clamp detection system for a slab unmanned overhead traveling crane, wherein the dead weight type clamp comprises an upper cross beam 1, a lower cross beam 2, a clamping arm 3 and an opening and closing device 4, the detection system comprises a laser range finder mounting bracket 9 arranged on the bottom end surface of the upper cross beam 1, a laser range finder 10 arranged on the laser range finder mounting bracket 9, two steel wire ropes 12 arranged at the top end of the upper cross beam 1 at intervals, an overhead traveling crane cart 13 arranged above the upper cross beam 1, an overhead traveling crane cart 14 arranged on the overhead traveling crane cart 13, a hoisting clutch A5 and a hoisting clutch B7 arranged on the overhead traveling crane cart 14 at intervals and respectively connected with the corresponding steel wire ropes 12, a clamp height encoder A6 and a clamp height encoder B8 respectively arranged on the side walls of the hoisting clutch A5 and the hoisting clutch B7, and a laser reflection plate 11 arranged at the top end of the lower cross beam 2, The automatic clamp height measuring device comprises an unmanned overhead travelling crane processing system connected with a clamp height encoder A6, a clamp height encoder B8 and a laser range finder 10, and an alarm device connected with the unmanned overhead travelling crane processing system, wherein a laser reflection plate 11 is positioned under the laser range finder 10 and corresponds to the laser range finder 10.
The unmanned overhead traveling crane processing system is a single chip microcomputer or P L C, and the alarm device is an audible and visual alarm.
And the clamp height encoder A6 and the clamp height encoder B8 both adopt absolute value encoders.
The arm lock 3 sets up on entablature 1 and bottom end rail 2, arm lock 3 is symmetrical structure and is located the left and right sides of entablature 1 and bottom end rail 2, wherein the arm lock 3 of each side all includes two big arms 15 of clamp through round pin axle swing joint in 1 bottom of entablature, with two clamp middle arms 16 of the other end alternately swing joint of two big arms 15 of clamp, with two clamp forearm 17 of the other end correspondence swing joint of two middle arms 16 of clamp, bottom end rail 2 is equipped with two pivots along its length direction is last symmetry, the pivot is connected with corresponding clamp middle arm 16 and clamp forearm 17. The free end of each gripper arm 17 is provided with a grip arranged obliquely inwards for firmly gripping the slab. The inclination angle degree of the hand grip is more than or equal to 90 degrees.
The opening and closing device 4 is arranged on the bottom end face of the upper cross beam 1 and located on one side of the laser range finder mounting bracket 9, and the opening and closing device 4 is used for locking and unlocking the dead weight type clamp. Specifically, the opening and closing device 4 is positioned at the middle position of the bottom end of the upper beam 1,
and a clamp height encoder A6 is arranged on a clutch A5 of a hoist on one side of the crown block and is used for measuring the actual height of the clamp from the ground. The encoder used an absolute value encoder, model mock, ATM60-A4K12X12, Multi-turn/SolidShaft (D10 mm).
And the clamp height encoder B8 is arranged on a clutch B7 of a winch on the other side of the crown block and used for assisting in measuring the actual height of the clamp from the ground and comparing the actual height with the height detected by the clamp height encoder A6 to judge whether the clamp is balanced. The encoder used an absolute value encoder, model Sick, ATM60-A4K12X12, Multi-turn/Solid Shaft (D10 mm).
The laser range finder 10 is arranged on the laser range finder mounting bracket 9, vertically irradiates downwards, irradiates on the upper end face of the lower beam 2 of the dead weight type clamp, and is used for detecting the vertical height difference between the upper beam 1 and the lower beam 2.
The laser range finder 10 is of the type of sick, D L00-21 AA2101. the laser range finder mounting bracket 9 is arranged on the upper cross beam 1 of the dead weight type clamp, and the mounting bracket 9 is of the type of sick, BEF-WF-36.
The laser Reflector 11 is 3M 4090 Reflector speed (60X500), the clamp height encoder A6, the clamp height encoder B8 and the laser range finder 10 are all connected with an unmanned overhead travelling crane processing system, when the unmanned overhead travelling crane processing system is a P L C system, a slab width calculating method, a dead weight type clamp whether balance judging method and an opening and closing device state judging method are added in the P L C system, the slab width, the dead weight type clamp whether balance and the opening and closing device state can be calculated, and the singlechip is similar, but a designed slab width calculator, a dead weight type clamp whether balance judging device and an opening and closing device state judging device are required to judge the state and the width.
A dead weight type clamp detection method for a slab unmanned overhead traveling crane is realized by the detection system, and is used for calculating the slab width, judging whether a dead weight type clamp is balanced or not and judging the state of an opening and closing device, and comprises the following specific steps:
s1: measuring the length a of a large arm of the clamp, the length b of a middle arm of the clamp, the length c of a small arm of the clamp and the length l of a lower cross beam by using a measuring tape;
s2: the structure of the dead weight type clamp is known, the included angle between the clamp small arm 17 and the clamp middle arm 16 is theta, and the angle is 120 degrees measured by using a protractor;
s3: after the clamp opening and closing device 4 is closed, the clamp is dropped on the horizontal ground, and a clamp height encoder A6 and a clamp height encoder B8 are calibrated to be the same numerical value; reading the numerical value of the laser range finder 10 to obtain the height difference h between the upper cross beam 1 and the lower cross beam 2 after the opening and closing device 4 is closed;
s4: the linear length d of the AC is calculated according to the pythagorean theorem,
；
s5: calculating an included angle omega between the AC connecting line and the lower cross beam 2 according to the trigonometric function,
；
s6: calculating the included angle lambda between the AC connecting line and the clamp middle arm 16 according to the cosine law,
；
s7, subtracting from S5 and S6, and calculating an included angle β = omega-lambda between the clamp middle arm 16 and the lower cross beam 2;
s8, calculating an included angle α = theta-90- β between the small clamping arm 17 and the plumb line according to the known angle theta in S2 and the calculated angle β in S7;
s9 since the length of the lower beam 2 is known as l in S1, the jaw opening width L, i.e., the slab width L,
；
s10: under the condition that the opening and closing device 4 is locked, monitoring the laser range finder 10, if the numerical value changes by more than 20cm, indicating that the opening and closing device 4 is tripped, immediately sending a lifting stopping command by an unmanned overhead travelling crane processing system, and locking by dropping a hook again;
s11: in the working process of the clamp, the unmanned overhead traveling crane processing system compares the numerical difference values of a clamp height encoder A6 and a clamp height encoder B8 in real time, if the difference value is larger than 5cm, the clamp is unbalanced, an alarm device is used for giving an alarm and waiting for a maintenance worker to process the clamp;
s12: if the clamp is actually balanced and the numerical values of the clamp height encoder A6 and the clamp height encoder B8 have difference values, an alarm is given to remind an operator to calibrate the encoders again.
The detection method can transform the common dead weight type clamp into the unmanned slab unmanned overhead crane clamp suitable for unmanned driving through the transformation of the sensor and the new program, thereby reducing the number of workers, enhancing the safety, avoiding slab lifting and falling accidents caused by the falling of the opening and closing device, providing necessary equipment and conditions for the realization of the slab unmanned overhead crane system, and being the important equipment which is indispensable for the unattended overhead crane.
Claims (10)
1. The utility model provides a dead weight formula clamp detecting system for unmanned overhead traveling crane of slab, dead weight formula clamp include entablature (1), bottom end rail (2), arm lock (3) and switching device (4), its characterized in that: the detection system comprises a laser range finder mounting support (9) arranged on the bottom end face of an upper cross beam (1), a laser range finder (10) arranged on the laser range finder mounting support (9), two steel wire ropes (12) arranged on the top end of the upper cross beam (1) at intervals, a crane cart (13) arranged above the upper cross beam (1), a crane cart (14) arranged on the crane cart (13), hoisting clutches A (5) and B (7) arranged on the crane cart (14) at intervals and connected with the corresponding steel wire ropes (12) respectively, clamp height encoders A (6) and B (8) arranged on the side walls of the hoisting clutches A (5) and B (7) respectively, a laser reflection plate (11) arranged on the top end of a lower cross beam (2), and unmanned positions connected with the clamp height encoders A (6) and B (8) and the laser range finder (10) respectively The laser ranging system comprises a management system and an alarm device connected with the unmanned overhead traveling crane processing system, wherein a laser reflecting plate (11) is positioned under a laser range finder (10) and corresponds to the laser range finder (10).
2. The slab unmanned aerial vehicle deadweight clamp detection system according to claim 1, wherein the unmanned aerial vehicle processing system is a single chip microcomputer or P L C, and the alarm device is an audible and visual alarm.
3. The system for detecting the deadweight clamp of the unmanned slab crane according to claim 2, wherein: and the clamp height encoder A (6) and the clamp height encoder B (8) both adopt absolute value encoders.
4. A deadweight clamp detection system for an unmanned slab crane, according to any one of claims 1 to 3, wherein: the clamping arms (3) are arranged on the upper cross beam (1) and the lower cross beam (2), the clamping arms (3) are of a symmetrical structure and are positioned at the left side and the right side of the upper cross beam (1) and the lower cross beam (2), the clamping arms (3) on each side respectively comprise two clamp large arms (15) movably connected to the bottom end of the upper cross beam (1) through a pin shaft, two clamp middle arms (16) movably connected with the other ends of the two clamp large arms (15) in a crossed mode, two clamp small arms (17) movably connected with the other ends of the two clamp middle arms (16) in a corresponding mode, the lower cross beam (2) is symmetrically provided with two rotating shafts in the length direction of the lower cross beam, and the rotating shafts are connected with the corresponding clamp middle arms (16) and the clamp small arms (.
5. The system for detecting the deadweight clamp of the unmanned slab crane according to claim 4, wherein: the free end of each small clamp arm (17) is provided with a hand grip which is arranged in an inward inclining way.
6. The system for detecting the deadweight clamp of the unmanned slab crane of claim 5, wherein: the inclination angle degree of the hand grip is more than or equal to 90 degrees.
7. The system for detecting the deadweight clamp of the unmanned slab crane according to claim 1, wherein: the opening and closing device (4) is arranged on the bottom end face of the upper cross beam (1) and located on one side of the laser range finder mounting support (9), and the opening and closing device (4) is used for locking and opening the self-weight clamp.
8. The system of claim 7, wherein the system comprises: the opening and closing device (4) is positioned in the middle of the bottom end of the upper cross beam (1).
9. The detection method of the deadweight clamp detection system for the slab unmanned overhead traveling crane according to claim 1, wherein: the method is used for calculating the width of the slab, judging whether the dead weight type clamp is balanced or not and judging the state of the opening and closing device (4), and comprises the following specific steps:
s1: measuring the length a of a large clamp arm (15), the length b of a middle clamp arm (16), the length c of a small clamp arm (17) and the length l of a lower cross beam (2) by using a measuring tape;
s2: the structure of the known dead weight type clamp is characterized in that the included angle between a clamp small arm (17) and a clamp middle arm (16) is set as theta;
s3: after the opening and closing device (4) of the clamp is closed, the clamp is dropped on the horizontal ground, and the clamp height encoder A (6) and the clamp height encoder B (8) are calibrated and are calibrated to be the same numerical value; then reading the numerical value of the laser range finder (10) to obtain the height difference h between the upper beam (1) and the lower beam (2) after the opening and closing device (4) is closed;
s4: calculating the length d of a straight line between two AC points according to the Pythagorean theorem,
the connecting vertex of the clamp large arm (15) and the upper cross beam (1) is A, and the connecting shaft point of the clamp middle arm (16) and the clamp small arm (17) is C;
s5: calculating an included angle omega between the AC connecting line and the lower beam (2) according to the trigonometric function,
；
s6: calculating the included angle lambda between the AC connecting line and the clamp middle arm 16 according to the cosine law,
；
s7, subtracting from S5 and S6, and calculating an included angle β = omega-lambda between the clamp middle arm (16) and the lower cross beam (2);
s8, calculating an included angle α = theta-90- β between the small clamping arm (17) and the plumb line according to the known angle theta in S2 and the calculated angle β in S7;
s9, since the length of the lower beam (2) is known as l in S1, the open width L of the clamp, namely the width L of the slab,
；
s10: under the condition that the opening and closing device (4) is locked, monitoring the laser range finder (10), if the numerical value changes by more than 20cm, indicating that the opening and closing device (4) is tripped, immediately sending a lifting stopping command, and then dropping a hook again to lock;
s11: in the working process of the clamp, comparing the numerical difference values of a clamp height encoder A (6) and a clamp height encoder B (8) in real time, if the difference value is more than 5cm, indicating that the clamp is unbalanced, and alarming to wait for the processing of maintenance personnel;
s12: if the clamp is actually balanced and the numerical values of the clamp height encoder A (6) and the clamp height encoder B (8) have difference values, an alarm is given to remind an operator to calibrate the encoders again.
10. The detection method of the deadweight clamp detection system for the slab unmanned overhead traveling crane according to claim 9, wherein: the angle of theta is measured by the protractor to be 100-150 deg.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113307151A (en) * | 2021-04-28 | 2021-08-27 | 聚光科技(杭州)股份有限公司 | Hoisting device and method based on unmanned traveling crane |
| CN118297520A (en) * | 2024-06-03 | 2024-07-05 | 北京弥天科技有限公司 | Steel coil unreeling method, device, equipment, storage medium and program product |
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| CN113307151A (en) * | 2021-04-28 | 2021-08-27 | 聚光科技(杭州)股份有限公司 | Hoisting device and method based on unmanned traveling crane |
| CN118297520A (en) * | 2024-06-03 | 2024-07-05 | 北京弥天科技有限公司 | Steel coil unreeling method, device, equipment, storage medium and program product |
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