CN111704033B - Side bend detection device, crane and side bend detection method - Google Patents

Side bend detection device, crane and side bend detection method Download PDF

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Publication number
CN111704033B
CN111704033B CN202010601804.2A CN202010601804A CN111704033B CN 111704033 B CN111704033 B CN 111704033B CN 202010601804 A CN202010601804 A CN 202010601804A CN 111704033 B CN111704033 B CN 111704033B
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receiver
transmitter
distance
arm
mechanical arm
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CN111704033A (en
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邓连喜
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Sany Automobile Hoisting Machinery Co Ltd
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Sany Automobile Hoisting Machinery Co Ltd
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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
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The application relates to the technical field of crane jib bending measurement, in particular to a side bending detection device, a crane and a side bending detection method, wherein the side bending detection device is applied to the crane, the crane comprises a rotary table and a mechanical arm connected with the rotary table, and the side bending detection device comprises: a receiver, a first transmitter, and a second transmitter; the receiver is arranged at the arm head part of the mechanical arm far away from the rotary table; the first emitter and the second emitter are respectively arranged at the left position and the right position of the rotary table, which are at the same vertical distance with the mechanical arm. By adopting electric signal distance measurement, the side bending amount of the mechanical arm can be accurately calculated, namely the side bending degree of the mechanical arm of the crane can be monitored in real time according to the side bending amount.

Description

Side bend detection device, crane and side bend detection method
Technical Field
The application relates to the technical field of crane arm bending measurement, in particular to a side bending detection device, a crane and a side bending detection method.
Background
At present, telescopic crane arms are numerous in sections and nested with each other, due to factors such as wind load, sunshine and the like in a manufacturing process and a hoisting field environment, the center line of each section of arm is not coincident with the center line of the head part and the tail part of the arm, and the head part of the arm can generate lateral displacement, namely lateral bending, perpendicular to a luffing plane. Under the lateral bending condition, the gravity center of the hoisted object and the gravity center of each section of arm deviate from the amplitude variation plane, and the hoisting capacity of the hoisting device is reduced. When the side bending exists, the hoisting performance needs to be synchronously reduced, when the side bending amount exceeds the range, protection is needed, otherwise, a side arm bending accident occurs, and therefore, the real-time detection and protection of the side bending amount of the crane are very necessary during hoisting.
The existing detection device has the disadvantages of complex structure, complex detection steps, easy environmental influence and low detection result precision.
Disclosure of Invention
The application aims to provide a side bend detection device, a crane and a side bend detection method, and solves the technical problems that the existing detection device in the prior art is complex in structure, complex in detection steps, easy to be influenced by the environment and low in detection result precision to a certain extent.
The application provides a side bend detection device is applied to the hoist, the hoist include the revolving stage and with the arm that the revolving stage is connected, side bend detection device includes: a receiver, a first transmitter, and a second transmitter; wherein the receiver is disposed at an arm head of the robotic arm distal from the turret;
the first emitter and the second emitter are respectively arranged at the left position and the right position of the rotary table, which are at the same vertical distance with the mechanical arm.
In the above technical solution, further, the receiver is a wireless receiver, and the first transmitter and the second transmitter are both wireless transmitters.
In any of the above technical solutions, further, the lateral bending detection apparatus further includes a controller, and the controller is in communication connection with the receiver;
in any of the above technical solutions, further, the side bend detection device further includes an alarm, and the alarm is in communication connection with the controller.
The application also provides a crane, which comprises the side bend detection device in any technical scheme, so that the whole beneficial technical effects of the side bend detection device are achieved, and the description is omitted.
In the above technical solution, further, the crane further includes the turntable and the mechanical arm, and the wireless receiver of the side bend detection device is disposed at an arm head of the mechanical arm away from the turntable; and a first emitter and a second emitter of the side bending detection device are respectively arranged at the left position and the right position of the rotary table, which are at the same vertical distance with the mechanical arm.
The application also provides a side bend detection method, which is applied to the side bend detection device in any technical scheme, so that the side bend detection device has all the beneficial technical effects of the device, and is not repeated herein.
In any of the above technical solutions, further, the side bend detection method includes the following steps:
acquiring the distance from the first transmitter to the receiver, the distance from the second transmitter to the receiver and the distance between the first transmitter and the second transmitter;
and acquiring the side bending amount of the mechanical arm according to the distance from the first transmitter to the receiver, the distance from the second transmitter to the receiver and the distance between the first transmitter and the second transmitter.
In any one of the above technical solutions, further, after the step of obtaining the amount of lateral bending of the mechanical arm, the method further includes the following steps: and alarming and limiting actions according to the side bending amount of the mechanical arm and the actual working condition of the crane.
In any of the above technical solutions, further, a distance from the first transmitter to the receiver is obtained as L 1 Obtaining the distance L from the second transmitter to the receiver 2 Obtaining a distance L between the first and second emitters 3 Calculating the side bending amount L = (L) of the mechanical arm 2 2 -L 1 2 )/2L 3 。
The application provides a detection device that bends, be applied to the hoist, the hoist include the revolving stage and with the arm that the revolving stage is connected, detection device that bends includes: a transmitter, a first receiver, and a second receiver; wherein the transmitter is arranged at the arm head of the mechanical arm far away from the rotary table;
the first receiver and the second receiver are respectively arranged at the left position and the right position of the rotary table, which are at the same vertical distance with the mechanical arm.
The application also provides a crane, which comprises the technical scheme, therefore, the crane has all beneficial technical effects of the side bending detection device, and the description is omitted here.
In the above technical solution, further, the crane further includes the turntable and the robot arm; the transmitter of the side bending detection device is arranged at the arm head part of the mechanical arm far away from the rotary table; and a first receiver and a second receiver of the side bending detection device are respectively arranged at the left position and the right position of the rotary table, which are at the same vertical distance with the mechanical arm.
The application also provides a side bend detection method, which is applied to the side bend detection device in the technical scheme, so that the side bend detection device has all the beneficial technical effects of the device, and the description is omitted.
In the above technical solution, further, the side bend detection method includes the following steps:
acquiring the distance from the first receiver to the transmitter, the distance from the second receiver to the transmitter and the distance between the first receiver and the second receiver;
and acquiring the amount of side bending of the mechanical arm according to the distance from the first receiver to the transmitter, the distance from the second receiver to the transmitter and the distance between the first receiver and the second receiver.
Compared with the prior art, the beneficial effect of this application is:
the application provides a side bend detection device, arm head at the arm sets up wireless receiver, set up two wireless transmitter along the vertical direction symmetry with the arm on the revolving stage, and then accessible radio rangefinder, measure first wireless transmitter to wireless receiver's distance L1 and second wireless transmitter to wireless receiver's distance L2, and the distance L3 between two known wireless transmitter, calculate through the man-hour as described below, reach the side bend volume of arm, and then report to the police or the action protection according to measuring the structure, especially when the side bend volume exceedes the scope, can report to the police and the action protection, avoid the hoist to take place the side direction and roll over the arm accident, actual work to the hoist has great significance.
In addition, the wireless distance measurement technology is mature, the measurement precision is high, the measurement of the lateral bending amount can be conveniently realized, and the wireless distance measurement is not influenced by weather.
The application provides a hoist sets up the transmitter of two symmetries along the direction of perpendicular to arm on the revolving stage and is first wireless transmitter and second wireless transmitter, and two transmitter distances do, sets up a wireless receiver at the arm head, through wireless range finding, measure the distance of first wireless transmitter and wireless receiver and do, and second wireless transmitter and wireless receiver distance do, are calculating the side deflection volume of arm according to the following formula. Especially, when the side bending amount exceeds the range, the alarm and the action protection can be carried out, the crane is prevented from side arm bending accidents, and the method has great significance for the actual work of the crane.
According to the side bending detection method, the distance from the first transmitter to the receiver, the distance from the second transmitter to the receiver, the distance between the first transmitter and the second transmitter are obtained, and according to the distance value, the side bending amount of the mechanical arm is obtained, namely the side bending degree of the mechanical arm of the crane can be monitored in real time according to the side bending amount.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a side bend detection device applied to a crane according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a side bend detection method according to an embodiment of the present application.
Reference numerals are as follows:
1-a first emitter, 2-a second emitter, 3-a receiver, 4-a turntable, 5-a robot arm.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application.
All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The following describes a side bend detection apparatus, a crane, and a side bend detection method according to some embodiments of the present application with reference to fig. 1 and 2.
Example one
Referring to fig. 1, an embodiment of the present application provides a lateral bending detection apparatus applied to a crane, where the crane includes a rotary table 4 and a mechanical arm 5 connected to the rotary table 4;
the lateral bending detection device comprises: a receiver 3, a first transmitter 1 and a second transmitter 2; wherein, the receiver 3 is arranged at the arm head part of the mechanical arm 5 far away from the rotary table 4;
the first emitter 1 and the second emitter 2 are respectively arranged at the left position and the right position of the rotary table 4 with the same vertical distance with the mechanical arm 5.
By being provided withIn the above-described structure, the receiver 3 is disposed at the head of the robot arm 5, the two transmitters are symmetrically disposed on the turntable 4 along the direction perpendicular to the robot arm 5, and the distance L from the first transmitter 1 to the receiver 3 can be measured by electrical distance measurement 1 And the distance L of the second transmitter 2 to the receiver 3 2 And the known distance L between two transmitters 3 The side bending amount of the mechanical arm 5 is obtained through the working hour calculation as described below, and then alarming or action protection is carried out according to the side bending amount, namely alarming and action protection can be carried out particularly when the side bending amount exceeds the range, so that the crane is prevented from side arm bending accidents, and the method has great significance for the actual work of the crane.
In addition, simple electric signal transmission ranging is achieved by the aid of the transmitter and the receiver, and compared with an existing ranging method, the method is direct and simple, is not easily influenced by the environment, and is accurate in detection result.
Particularly, for the receiver 3 being a wireless receiver, the first transmitter 1 and the second transmitter 2 are both wireless transmitters, that is, the first transmitter 1 is a first wireless transmitter, and the second transmitter 2 is a second wireless transmitter, therefore, the present side bend detecting device adopts a wireless ranging technology, and the wireless ranging technology has the following advantages: the wireless distance measurement technology is mature, the measurement precision is high, the measurement of the lateral bending amount can be conveniently realized, and the wireless distance measurement is not easily influenced by the environment and the weather.
It is further noted that the receiver 3 may also be designed as a transmitter, the first transmitter 1 as a first receiver, and the second transmitter 2 as a second receiver, which are also capable of achieving the above-described functions, with the same advantageous technical effects, and accordingly, a side bend detection method described below may be applied to this design, enabling side bend detection of the robot arm 5 (correspondingly, the receiver 3 appearing in the method is modified as a transmitter, the first transmitter 1 as a first receiver, and the second transmitter 2 as a second receiver).
In one embodiment of the present application, the lateral bending detection device further preferably comprises a controller, which is in communication connection with the receiver 3 (not shown in the figures).
According to the structure described above, the controller calculates the data transmitted by the receiver 3 to obtain the corresponding lateral bending amount of the mechanical arm 5, so as to monitor the lateral bending condition of the mechanical arm 5 in real time, and the controller has important significance for the actual work of the crane.
Wherein optionally the controller may be integrated with the receiver 3.
In one embodiment of the present application, the lateral bending detection device preferably further comprises an alarm, and the alarm is in communication connection with the controller (not shown in the figure).
According to the structure described above, when the side bending amount exceeds the range, the controller controls the alarm to sound so as to warn the operator to maintain the crane.
Example two
The embodiment of the application further provides a crane, which comprises the side bend detection device in any one of the embodiments, so that all beneficial technical effects of the device are achieved, and the details are not repeated.
Specifically, referring to fig. 1, the crane further includes a turntable 4 and a mechanical arm 5, and the receiver 3 of the side bending detection device is disposed at an arm head of the mechanical arm 5 away from the turntable 4; the first emitter 1 and the second emitter 2 of the side bend detection device are respectively arranged at the left position and the right position of the rotary table 4, which are vertically equidistant from the mechanical arm 5.
According to the above-described structure, two symmetrical transmitters, i.e., the first transmitter 1 and the second transmitter 2, are provided on the turn table 4 in a direction perpendicular to the robot arm 5 at a distance L 3 A receiver 3 is arranged at the head of the arm, and the distance between the first transmitter 1 and the receiver 3 is measured as L through distance measurement 1 The second transmitter 2 is at a distance L from the receiver 3 2 The amount of the sidewise bending L of the robot arm 5 is calculated according to the formula described below.
Especially, when the side bending amount exceeds the range, the alarm and the action protection can be carried out, the crane is prevented from side arm folding accidents, and the method has great significance for the actual work of the crane.
EXAMPLE III
An embodiment of the present application further provides a side bend detection method, including the side bend detection apparatus of any of the above embodiments, and specifically, the side bend detection method includes the following steps:
acquiring the distance from the first transmitter 1 to the receiver 3 and the distance from the second transmitter 2 to the receiver 3;
acquiring the distance between the first emitter 1 and the second emitter 2;
and acquiring the side bending amount of the mechanical arm 5 according to the distance from the first transmitter 1 to the receiver 3, the distance from the second transmitter 2 to the receiver 3 and the distance between the first transmitter 1 and the second transmitter 2.
In the side bending detection method, simple electric signal transmission distance measurement is realized by using the transmitter and the receiver, and the side bending amount of the mechanical arm 5 can be accurately calculated, namely the side bending degree of the mechanical arm 5 of the crane can be detected in real time according to the side bending amount.
Particularly, the step of calculating the amount of the lateral bending of the mechanical arm 5 further comprises the following steps: according to the side bending amount of the mechanical arm 5 and the actual working condition of the crane, alarming and action limiting are carried out, the crane is prevented from side arm bending accidents, and the method has great significance for the actual work of the crane.
In this embodiment, preferably, as shown in fig. 1, the distance L from the first transmitter 1 to the receiver 3 is measured, in particular by means of radio ranging 1 Measuring the distance L from the second transmitter 2 to the receiver 3 2 Measuring the distance L between the first emitter 1 and the second emitter 2 3 According to the formula L = (L) as follows 2 2 -L 1 2 )/2L 3 The amount of lateral bending L of the robot arm 5 is calculated. (Note here that the first transmitter 1 and the second transmitter 2 are both wireless transmitters, and the receiver 3 is a wireless receiver)
In summary, referring to fig. 2, the side bending detection method includes the following steps:
step 100, respectively measuring the distance from a first transmitter 1 to a receiver 3 and the distance from a second transmitter 2 to the receiver 3 through radio ranging; (note here that the first transmitter 1 and the second transmitter 2 are both wireless transmitters, and the receiver 3 is a wireless receiver) step 200, measuring the distance between the first transmitter 1 and the second transmitter 2;
and step 300, calculating the side bending amount of the mechanical arm 5, and alarming and limiting actions according to the side bending amount of the mechanical arm 5 and the actual working condition of the crane.
Wherein, the sequence of step 100 and step 200 can be interchanged.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. The utility model provides a side bend detection device, is applied to the hoist, the hoist include the revolving stage and with the arm that the revolving stage is connected, its characterized in that, side bend detection device includes: a receiver, a first transmitter, and a second transmitter; wherein the receiver is disposed at an arm head of the robotic arm distal from the turret;
the first emitter and the second emitter are respectively arranged at the left position and the right position of the rotary table, which are at the same vertical distance with the mechanical arm;
amount of sidewise bending of the arm
Figure FDF0000019785830000011
Wherein L is 1 Is the distance of the first transmitter to the receiver, L 2 Is the distance, L, of the second transmitter to the receiver 3 Is the distance between the first emitter and the second emitter.
2. The sidekick detecting apparatus according to claim 1, wherein the receiver is a wireless receiver, and the first transmitter and the second transmitter are both wireless transmitters.
3. A side bend detecting device according to claim 1 or 2, further comprising a controller and an alarm, wherein the controller is in communication with the receiver and the alarm, respectively.
4. A crane comprising said turntable, said robot arm and a lateral bend detection apparatus as claimed in any one of claims 1 to 3;
the receiver of the side bending detection device is arranged at the arm head part of the mechanical arm far away from the rotary table; and a first emitter and a second emitter of the side bending detection device are respectively arranged at the left position and the right position of the rotary table, which are at the same vertical distance with the mechanical arm.
5. A side bend detecting method applied to the side bend detecting apparatus according to any one of claims 1 to 3, characterized by comprising the steps of:
acquiring the distance from the first transmitter to the receiver, the distance from the second transmitter to the receiver and the distance between the first transmitter and the second transmitter;
and acquiring the side bending amount of the mechanical arm according to the distance from the first transmitter to the receiver, the distance from the second transmitter to the receiver and the distance between the first transmitter and the second transmitter.
6. The method of claim 5, wherein the step of obtaining the amount of lateral bending of the robot arm further comprises the steps of: and alarming and limiting actions according to the side bending amount of the mechanical arm and the actual working condition of the crane.
7. The sidewise bending detection method according to claim 5, wherein a distance from the first transmitter to the receiver is obtained as L1, a distance from the second transmitter to the receiver is obtained as L2, a distance between the first transmitter and the second transmitter is obtained as L3, and an amount of sidewise bending of the robot arm is calculated as L = (L =) 2 2 -L 1 2 )/2L 3 。
8. The utility model provides a side bend detection device, is applied to the hoist, the hoist include the revolving stage and with the arm that the revolving stage is connected, its characterized in that, side bend detection device includes: a transmitter, a first receiver, and a second receiver; wherein the transmitter is arranged at the arm head of the mechanical arm far away from the rotary table;
the first receiver and the second receiver are respectively arranged at the left position and the right position of the rotary table, which are vertically equidistant from the mechanical arm;
amount of sidewise bending of the arm
Figure FDF0000019785830000021
Wherein L is 1 Is the distance of the transmitter from the first receiver, L 2 Is the distance of the transmitter to the second receiver, L 3 Is the distance between the first receiver and the second receiver.
9. A crane comprising said turntable, said robot arm, and the sidewise bending detection apparatus according to claim 8;
the emitter of the side bending detection device is arranged at the arm head part of the mechanical arm, which is far away from the rotary table; and a first receiver and a second receiver of the side bending detection device are respectively arranged at the left position and the right position of the rotary table, which are at the same vertical distance with the mechanical arm.
10. A side bend detecting method applied to the side bend detecting apparatus as claimed in claim 8, wherein the side bend detecting method comprises the steps of:
acquiring the distance from the first receiver to the transmitter, the distance from the second receiver to the transmitter and the distance between the first receiver and the second receiver;
and acquiring the amount of side bending of the mechanical arm according to the distance from the first receiver to the transmitter, the distance from the second receiver to the transmitter and the distance between the first receiver and the second receiver.
CN202010601804.2A 2020-06-28 2020-06-28 Side bend detection device, crane and side bend detection method Active CN111704033B (en)

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CN102756976B (en) * 2012-07-23 2014-07-16 中联重科股份有限公司 Suspension arm bending deflection detection and safety control equipment, system and method and crane
CN103359622B (en) * 2013-07-19 2016-01-20 中联重科股份有限公司 Crane and safety control system of boom thereof, and method, control device and system for detecting lateral bending amount of boom
CN109665447B (en) * 2018-12-06 2020-03-24 北汽福田汽车股份有限公司 Crane and device and method for acquiring amplitude of suspension arm of crane
CN109879170B (en) * 2019-03-29 2020-08-04 哈尔滨理工大学 Crane jib sidewise bending displacement real-time detection system
CN110255379B (en) * 2019-05-30 2020-07-10 中联重科股份有限公司 Method and system for detecting lateral bending of suspension arm and lateral bending monitoring system
CN110921513B (en) * 2019-12-05 2021-08-24 三一汽车起重机械有限公司 Positioning measurement device and method

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