CN112607596A - Method and device for inhibiting swinging of lifting hook of automobile crane - Google Patents
Method and device for inhibiting swinging of lifting hook of automobile crane Download PDFInfo
- Publication number
- CN112607596A CN112607596A CN202011489939.0A CN202011489939A CN112607596A CN 112607596 A CN112607596 A CN 112607596A CN 202011489939 A CN202011489939 A CN 202011489939A CN 112607596 A CN112607596 A CN 112607596A
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- Prior art keywords
- crane
- hook
- lifting hook
- swinging
- tension value
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
Abstract
The invention discloses a method for inhibiting the swinging of a lifting hook of an automobile crane, which comprises the following steps that a tension detector on the lifting hook of the automobile crane detects a static tension value F of the lifting hook of the crane and feeds the static tension value F back to a crane controller; when the crane runs, a tension detector detects a dynamic tension value F1 of a crane hook and feeds the dynamic tension value back to a crane controller; and the crane controller converts the swinging angle alpha of the swinging of the lifting hook according to the static tension value and the dynamic tension value, and controls the crane to travel along the swinging direction of the lifting hook. The invention also discloses a device for inhibiting the swinging of the lifting hook of the automobile crane. The method and the device for inhibiting the swinging of the lifting hook of the automobile crane, disclosed by the invention, have the advantages that the swinging degree of the heavy object can be monitored in real time without adding extra control equipment, the lifting hook of the crane is controlled in real time by monitoring the swinging size of the heavy object, the following mode is adopted, the swinging degree of the heavy object is reduced to the maximum extent, and the effect of inhibiting the swinging amplitude of the lifting hook is good.
Description
Technical Field
The invention relates to the technical field of cranes, in particular to a method and a device for inhibiting the swinging of a lifting hook of an automobile crane.
Background
The crane hoists the heavy object and will cause because inertia will certainly cause and rock in the course of moving, the existing truck crane moment display system, to the heavy object hoisted carries on the real-time safety monitoring, the pulling force that the real-time monitoring wire rope received, guarantee the safe operation of the crane.
In the prior art, a mechanical limiting device or a swing angle sensor is additionally arranged to inhibit the crane from shaking. The principle of the mechanical limiting device is mainly that the swinging stroke of the lifting hook is reduced by increasing damping during movement. The swing sensor controls the swing stroke by a motor controller by monitoring the swing angle.
Disclosure of Invention
In order to solve the above technical problems, embodiments of the present invention desirably provide a method and an apparatus for suppressing the sway of a hook of an automobile crane, in which a static tension value and a dynamic tension value are detected by a tension detector to convert a sway angle of the hook, and a sway degree of a heavy object is reduced by following according to a direction of the sway angle.
The technical scheme of the invention is realized as follows:
a method for inhibiting the swinging of a lifting hook of an automobile crane comprises the following steps:
step S1, detecting a static tension value F of the crane hook in a static state by a tension detector on the crane hook, and feeding the static tension value F back to a crane controller;
step S2, the crane runs, the lifting hook swings, the tension detector detects a dynamic tension value F1 of the crane lifting hook in a motion state, and the detected dynamic tension value F1 is fed back to the crane controller;
and step S3, the crane controller converts the swinging angle a of the swinging of the lifting hook according to the static tension value F and the dynamic tension value F1, and controls the crane to drive along the swinging direction of the lifting hook according to the angle of the swinging angle a so as to reduce the swinging degree of the heavy object.
Preferably, the tension detector detects a dynamic tension value of the crane hook in a motion state and feeds the detected dynamic tension value back to the crane controller, and the method comprises the following steps that when the dynamic tension value detected by the tension detector is smaller than or equal to a preset dynamic tension value, the tension detector does not send a signal to the crane controller; and when the dynamic tension value detected by the tension detector is larger than a preset dynamic tension value, the tension detector sends a signal to the crane controller.
Preferably, the method further comprises a step S0, before the crane is started and does not run, the tension detector firstly extracts whether the tension value on the crane hook changes within a preset time period, if the tension value is not changed, the crane is judged to be static, and the step S1 is simultaneously executed; and if so, judging that the crane hook is dynamic, and continuously detecting until the tension value on the crane hook in the extracted preset time period is a constant value.
Preferably, the relationship between the swing angle α and the object gravity G and the dynamic tension value F1 is as follows:
since G is F, it is not necessary to provide a sufficient amount of C
Preferably, the crane runs along the swinging direction of the lifting hook, and the method comprises the following steps:
when the lifting hook swings to the maximum, the swing angle alpha reaches the maximum value, and the crane controller controls the crane to accelerate towards the side direction of the lifting hook so as to offset the swing angle of the lifting hook; when the lifting hook swings to the highest position in the other direction, the controller controls the crane to accelerate towards the side direction where the lifting hook is located at the moment, and the crane accelerates to offset the swing angle of the lifting weight;
and (4) continuing swinging the crane hook, and repeating the steps until the hook stops swinging.
Preferably, the method for determining the maximum value of the swing angle a is as follows: the tension detector detects that the next dynamic tension value F1 is greater than the maximum dynamic tension value F1 in the detection process, and the hook has reached the highest position in a swing cycle.
Preferably, the crane control system comprises a tension detector and a crane controller, wherein the tension detector is arranged on a lifting hook of the crane, the tension detector is connected with the crane controller and used for transmitting a detection signal to the crane controller, and the crane controller controls the crane to run along the swinging direction of the lifting hook according to a feedback signal.
Preferably, the crane controller comprises a moment limiter host, a control unit and an execution unit which are in communication connection, the tension detector is connected with the moment limiter and transmits a detection signal to the moment limiter, the moment limiter transmits data to the control unit, and the control unit controls the execution unit to move according to feedback data.
Preferably, the tension detector is a force sensor.
Preferably, the control unit is a PLC control unit.
The method and the device for inhibiting the swinging of the lifting hook of the automobile crane, provided by the embodiment of the invention, firstly detect the static tension value on the lifting hook through the tension detector, and then mathematically convert the static tension value with the dynamic tension value detected by the motion to obtain the swinging angle of the lifting hook, thereby controlling the automobile crane to reduce the swinging degree of the heavy object in a following mode, and obviously, the swinging angle of the heavy object is not directly measured through an angle sensor, but is measured and calculated through the tension value of the lifting hook for hanging the heavy object, so that the aim of monitoring the swinging degree of the heavy object in real time can be realized on the crane without adding extra control equipment, the lifting hook of the crane is controlled in real time through monitoring the swinging degree of the heavy object, the following mode is adopted, the swinging degree of the heavy object is furthest reduced, and the effect of inhibiting the swinging amplitude of the lifting hook is good, the safety of the crane operation is effectively improved.
Drawings
FIG. 1 is a flow chart of a method for suppressing the sway of a hook of a mobile crane according to the present invention;
FIG. 2 is a schematic drawing of the hook at rest;
FIG. 3 is a schematic drawing showing the tension of the hook in a swaying state;
fig. 4 is a device for inhibiting the shaking of the lifting hook of the automobile crane provided by the invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1-3, fig. 1 is a flow chart illustrating a method for suppressing the sway of a hook of a crane truck according to the present invention; FIG. 2 is a schematic drawing of the hook at rest; fig. 3 is a schematic drawing of the tension of the hook in a swaying state. The method for inhibiting the swinging of the lifting hook of the automobile crane comprises the following steps:
step S1, the tension detector 3 on the automobile crane hook 1 detects a static tension value F of the crane hook 1 in a static state, and feeds the static tension value F back to the crane controller 5;
step S2, the automobile crane runs, the lifting hook 1 swings, the tension detector 3 detects a dynamic tension value F1 of the crane lifting hook 1 in a motion state, and the detected dynamic tension value is fed back to the crane controller 5;
and step S3, the crane controller converts the swinging angle a of the lifting hook 1 to swing according to the static tension value F and the dynamic tension value F1, and controls the crane to drive along the swinging direction of the lifting hook 1 according to the angle of the swinging angle a so as to reduce the swinging degree of the heavy object.
The invention firstly detects the static tension value on the lifting hook 1 by the tension detector 3, and mathematically converts the static tension value and the dynamic tension value detected by movement to obtain the swing angle of the lifting hook 1, thereby controlling the crane to reduce the shaking degree of the heavy object in a following way, and obviously, the shaking angle of the heavy object is not directly measured by an angle sensor, but detects the measurement and calculation of the angle of the heavy object through the tension value of the lifting hook 1 for hanging the heavy object, thus realizing that the automobile crane does not need to add extra control equipment, can make real-time monitoring's purpose to the degree that the heavy object rocked to come real-time control mobile crane lifting hook 1 through the size that the monitoring heavy object rocked, take the mode of following, reduce the degree that the heavy object rocked to the at utmost, it is effectual to restrain lifting hook 1 and rock the range, the effectual security that has improved mobile crane operation.
Step S0, before the automobile crane is started and does not run, the tension detector 3 firstly extracts whether the tension value on the crane hook 1 in a preset time period changes, if not, the crane hook 1 is judged to be static, and the step S1 is simultaneously executed; and if so, judging that the crane hook 1 is dynamic, continuously detecting until the tension value on the crane hook 1 in the extracted preset time period is a constant value, and judging the tension value for a preset time period so as to reliably obtain the static tension value of the crane hook 1.
The method comprises the following steps that when the dynamic tension value detected by the tension detector 3 is smaller than or equal to a preset dynamic tension value, the tension detector 3 does not send a signal to the crane controller; when the dynamic tension value detected by the tension detector 3 is greater than the preset dynamic tension value, the tension detector 3 sends a signal to the crane controller, the tension detector 3 firstly screens and pre-judges the dynamic tension value to improve the working efficiency, and the tension detector 3 is prevented from continuously sending signals to the crane controller 5.
The relationship between the swing angle alpha and the gravity G and the dynamic tension value F1 of the object is as follows:
since G ═ F, the swing angle α is related to the object gravity G and the static tension value F by:
the automobile crane follows the lifting hook 1 to swing in the direction to drive, and the method comprises the following steps:
when the lifting hook 1 swings to the maximum, and the swing angle alpha reaches the maximum value, the crane controller 5 controls the crane to accelerate towards the side direction of the lifting hook 1 so as to offset the swing angle of the lifting hook 1; when the lifting hook 1 swings to the highest position in the other direction, the controller controls the crane to accelerate towards the side direction of the lifting hook 1 at the moment, and the crane accelerates to offset the swing angle of the lifting weight; and (4) continuing swinging the crane hook 1, and repeating the steps until the crane hook 1 stops swinging. The crane effectively reduces the swinging time of the hoisting weight by inhibiting the swinging of the lifting hook 1 by swinging along with the lifting hook 1, improves the safety and reliability of the working environment, and reduces the operation time and fatigue degree of crane operators.
Specifically, the method for determining the maximum oscillation angle α is as follows: the tension detector 3 detects that the next dynamic tension value F1 is greater than the maximum dynamic tension value F1 in the detection process, and the lifting hook 1 reaches the highest position in a swing period, so that the swing of the lifting weight can be effectively controlled even if external disturbance exists, and the reliability is high.
Please refer to fig. 4, which is a device for suppressing the swaying of the hook of the crane truck according to the present invention. The invention provides a device for inhibiting the swinging of a lifting hook 1 of an automobile crane, which comprises a tension detector 3 and a crane controller, wherein the tension detector 3 is arranged on the lifting hook 1 of the crane, the tension detector 3 is connected with the crane controller and is used for transmitting a detection signal to the crane controller, and the crane controller controls the crane to drive along the swinging direction of the lifting hook 1 according to a feedback signal.
The crane controller is an original control system of a crane and comprises a moment limiter host, a control unit and an execution unit which are in communication connection, the tension detector 3 is connected with the moment limiter and transmits a detection signal to the moment limiter, the moment limiter transmits data to the control unit, and the control unit controls the execution unit to move according to feedback data. The moment limiter host is a moment limiter of the crane.
Specifically, in the present embodiment, the tension detector 3 is a force sensor. The tension detector 3 is an original tension sensor in a moment controller system in the hoisting, and the control unit is a PLC control unit.
The method and the device for inhibiting the swinging of the lifting hook of the automobile crane, provided by the embodiment of the invention, firstly detect the static tension value on the lifting hook through the tension detector, and then mathematically convert the static tension value with the dynamic tension value detected by the motion to obtain the swinging angle of the lifting hook, thereby controlling the automobile crane to reduce the swinging degree of the heavy object in a following mode, and obviously, the swinging angle of the heavy object is not directly measured through an angle sensor, but is measured and calculated through the tension value of the lifting hook for hanging the heavy object, so that the aim of monitoring the swinging degree of the heavy object in real time can be realized on the crane without adding extra control equipment, the lifting hook of the crane is controlled in real time through monitoring the swinging degree of the heavy object, the following mode is adopted, the swinging degree of the heavy object is furthest reduced, and the effect of inhibiting the swinging amplitude of the lifting hook is good, the safety of the crane operation is effectively improved.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A method for inhibiting the swinging of a lifting hook of an automobile crane is characterized by comprising the following steps:
step S1, detecting a static tension value F of the crane hook in a static state by a tension detector on the crane hook, and feeding the static tension value F back to a crane controller;
step S2, the crane runs, the lifting hook swings, the tension detector detects a dynamic tension value F1 of the crane lifting hook in a motion state, and the detected dynamic tension value F1 is fed back to the crane controller;
and step S3, the crane controller converts the swinging angle alpha of the swinging of the lifting hook according to the static tension value F and the dynamic tension value F1, and controls the crane to drive along the swinging direction of the lifting hook according to the angle of the swinging angle alpha so as to reduce the swinging degree of the heavy object.
2. The method for suppressing the swinging of the lifting hook of the automobile crane according to claim 1, wherein the tension detector detects the dynamic tension value of the lifting hook in the motion state of the crane lifting hook and feeds back the detected dynamic tension value to the crane controller, comprising the following steps that when the dynamic tension value detected by the tension detector is less than or equal to the preset dynamic tension value, the tension detector does not send a signal to the crane controller; and when the dynamic tension value detected by the tension detector is larger than a preset dynamic tension value, the tension detector sends a signal to the crane controller.
3. The method for suppressing the swaying of the hook of the mobile crane according to claim 1, further comprising step S0, wherein before the crane is started and not driven, the tension detector first extracts whether the tension value on the hook of the crane changes within a preset time period, and if not, the crane is determined to be static, and step S1 is performed simultaneously; and if so, judging that the crane hook is dynamic, and continuously detecting until the tension value on the crane hook in the extracted preset time period is a constant value.
4. Method for damping the sway of a mobile crane hook as claimed in claim 1, wherein the sway angle α is related to the object gravity G and the dynamic tension value F1 by:
since G is F, it is not necessary to provide a sufficient amount of C
5. Method for damping the sway of a mobile crane hook according to claim 4, wherein the crane follows the direction of the sway of the hook, comprising the steps of:
when the lifting hook swings to the maximum, the swing angle alpha reaches the maximum value, and the crane controller controls the crane to accelerate towards the side direction of the lifting hook so as to offset the swing angle of the lifting hook; when the lifting hook swings to the highest position in the other direction, the controller controls the crane to accelerate towards the side direction where the lifting hook is located at the moment, and the crane accelerates to offset the swing angle of the lifting weight;
and (4) continuing swinging the crane hook, and repeating the steps until the hook stops swinging.
6. A method of dampening the sway of a mobile crane hook as claimed in claim 5, characterized in that the sway angle α is maximized by: the tension detector detects that the next dynamic tension value F1 is greater than the maximum dynamic tension value F1 in the detection process, and the hook has reached the highest position in a swing cycle.
7. The device for inhibiting the swinging of the lifting hook of the automobile crane is characterized by comprising a tension detector and a crane controller, wherein the tension detector is arranged on the crane lifting hook, the tension detector is connected with the crane controller and is used for transmitting a detection signal to the crane controller, and the crane controller controls the crane to follow the swinging direction of the lifting hook to run according to a feedback signal.
8. The device for suppressing the shaking of the lifting hook of the automobile crane as claimed in claim 7, wherein the crane controller comprises a moment limiter host, a control unit and an execution unit which are in communication connection, the tension detector is connected with the moment limiter to transmit a detection signal to the moment limiter, the moment limiter transmits data to the control unit, and the control unit controls the execution unit to move according to feedback data.
9. The device for suppressing sway of a mobile crane hook as claimed in claim 8, wherein said tension detector is a force sensor.
10. The device for suppressing sway of a mobile crane hook as recited in claim 8, wherein said control unit is a PLC control unit.
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| CN202011489939.0A CN112607596B (en) | 2020-12-16 | 2020-12-16 | Method and device for inhibiting swing of lifting hook of automobile crane |
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| CN202011489939.0A CN112607596B (en) | 2020-12-16 | 2020-12-16 | Method and device for inhibiting swing of lifting hook of automobile crane |
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| CN112607596B CN112607596B (en) | 2023-05-09 |
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