CN113120763A - Material transferring method and system of tower crane - Google Patents
Material transferring method and system of tower crane Download PDFInfo
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- CN113120763A CN113120763A CN202010043984.7A CN202010043984A CN113120763A CN 113120763 A CN113120763 A CN 113120763A CN 202010043984 A CN202010043984 A CN 202010043984A CN 113120763 A CN113120763 A CN 113120763A
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- 239000000463 material Substances 0.000 title claims abstract description 92
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000012546 transfer Methods 0.000 claims abstract description 366
- 230000007704 transition Effects 0.000 claims description 48
- 238000012937 correction Methods 0.000 claims description 16
- 238000012216 screening Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 230000032258 transport Effects 0.000 abstract description 18
- 238000010276 construction Methods 0.000 abstract description 5
- 210000001503 joint Anatomy 0.000 abstract 1
- 229910000831 Steel Inorganic materials 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
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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
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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
- B66C13/22—Control systems or devices for electric drives
Abstract
The invention discloses a material transferring method and system of a tower crane, and relates to the field of hoisting equipment. The material transferring method comprises the following steps: determining a transfer path according to a transfer starting point and a transfer end point of the material and the effective working range of each tower crane; the transfer path comprises transfer orders between at least two tower cranes and tower cranes related to transfer; carrying out transfer box alignment between two tower cranes with adjacent transfer sequences; the material is transferred in a transfer box. According to the method, the path for transferring the materials among the tower cranes is planned according to the working range of the tower cranes on a construction site and the transfer starting point and the transfer finishing point of the materials, the materials are transferred from the transfer box of one tower crane to the transfer box of the other tower crane, and the transfer boxes are aligned before transfer, so that the butt joint of side box doors of the transfer boxes is ensured to be correct; with this can realize that the material passes through the tower crane and transports in the air, need not to fall to the ground many times/lift by crane, need not the transportation of ground delivery vehicle, it is very convenient to can reduce and transport artificial dependence, raise the efficiency.
Description
Technical Field
The invention relates to the field of hoisting equipment, in particular to a material transferring method and system of a tower crane.
Background
The tower crane is the most common hoisting equipment on the construction site, and the dependence on the tower crane is increasingly greater during construction.
The current material is transported and needs to confirm the material transfer route earlier, lifts by crane to carriers such as haulage vehicle through the tower crane clamping, transports the rethread tower crane after the destination and unloads, and is stronger to artifical especially tower crane operation technical staff's dependence, influence efficiency.
Disclosure of Invention
The invention aims to provide a material transferring method and system of a tower crane, which can realize air transfer of materials through the tower crane.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the invention provides a material transferring method of a tower crane, which comprises the following steps:
determining a transfer path according to a transfer starting point and a transfer end point of the material and the effective working range of each tower crane; the transfer path comprises transfer orders between at least two tower cranes and tower cranes related to transfer;
carrying out transfer box alignment between two tower cranes with adjacent transfer sequences;
the material is transferred in a transfer box.
Wherein, according to the effective working range of the transport starting point of material, transport terminal point and each tower crane confirm the transfer route, include:
screening out tower cranes with effective working ranges covering the transfer starting points to form a first tower crane group;
screening out tower cranes with effective working ranges covering the transfer end points to form a second tower crane group;
and selecting a transfer starting point tower crane in the first tower crane group, and selecting a transfer end point tower crane in the second tower crane group, so that the distance between the transfer starting point tower crane and the transfer end point tower crane is shortest.
Further, a transfer starting tower crane is selected from the first tower crane group, and after a transfer ending tower crane is selected from the second tower crane group, the method further comprises the following steps:
and judging whether the transfer starting point tower crane and the transfer end point tower crane can finish the transfer work or not, and if not, determining a transition tower crane between the transfer starting point tower crane and the transfer end point tower crane.
Wherein, confirm the transition tower crane between transport starting point tower crane and the transport terminal point tower crane, include:
determining the minimum number of transition tower cranes between the transfer starting point tower crane and the transfer end point tower crane according to the distance between the transfer starting point tower crane and the transfer end point tower crane and the working range of a single tower crane;
screening the tower cranes in a connecting area of the working range of the transfer starting point tower crane and the working range of the transfer end point tower crane as a tower crane group to be selected;
and selecting transition tower cranes in the tower crane group to be selected according to the minimum quantity so as to enable the transfer path from the transfer starting point tower crane to the transfer end point tower crane to be the shortest through all the transition tower cranes in sequence.
Further, according to the minimum number, selecting a transition tower crane in the tower crane group to be selected, the method further comprises:
and checking whether the transition tower crane can finish the transfer work or not according to the effective working ranges of the transfer starting point tower crane, the transition tower crane and the transfer end point tower crane, and if not, re-determining the transition tower crane between the transfer starting point tower crane and the transfer end point tower crane.
Further, after selecting a transition tower crane in the tower crane group to be selected according to the minimum number, the method further comprises the following steps:
and determining the transfer sequence of each tower crane according to the tower body positions of the transfer starting point tower crane, the transition tower crane and the transfer end point tower crane on the transfer path, and determining the connection relationship of two tower cranes adjacent in sequence.
Further, before the effective working range according to the transport starting point, the transport terminal point and each tower crane of material confirms the transfer route, still include:
judging whether a tower crane covering the transfer starting point and the transfer end point in an effective working range exists or not;
if yes, no transfer is needed;
and if not, determining a transfer path according to the transfer starting point and the transfer end point of the material and the effective working range of each tower crane.
Further, whether need transport according to the transport starting point of material, transport the effective working range of terminal point and each tower crane before judging, still include:
calculating the working range of a single tower crane according to the working height of the tower crane, the movement range of a trolley on a crane boom and the rotation amplitude of the crane boom;
and determining the effective working range of each tower crane according to the tower body position of the tower crane, the working range and the obstacle area.
Wherein, carry out the transport case counterpoint between two adjacent tower cranes of transfer order, include:
carrying out height alignment on the transfer boxes of the two tower cranes; and/or the presence of a gas in the gas,
and carrying out horizontal angle alignment on the transfer boxes of the two tower cranes.
Wherein, the transport box of two tower cranes carries out high counterpoint, include:
respectively acquiring the heights of the crane arms or the transfer boxes of the two tower cranes;
according to the two vector differences of the heights, the height of one or two of the crane arms is adjusted, so that the heights of the transfer boxes of the two tower cranes are consistent.
Wherein, the transport box of two tower cranes carries out horizontal angle counterpoint, include:
respectively acquiring horizontal angles of transfer boxes of the two tower cranes;
and adjusting the horizontal angle of one or two of the transfer boxes according to the vector difference of the two horizontal angles, so that the side box doors of the two transfer boxes are opposite.
Wherein, with the material transfer in the transfer box, include:
fixing two transfer boxes opposite to the side box door to each other through a locking device;
respectively controlling side box doors of the transfer box to slide and open;
determining the transportation direction of the materials between the two transportation boxes according to the connection relation of two tower cranes adjacent in the transportation sequence;
and the conveying rollers controlling the bottoms of the two transfer boxes rotate in the same direction according to the conveying direction.
Further, after the materials are transferred in the transfer box, the method further comprises the following steps:
and respectively controlling the side box doors of the transfer boxes to slide and close, and unlocking the two transfer boxes by the locking device.
In a second aspect, the invention provides a material transfer system of a tower crane, which comprises a plurality of tower cranes and a server;
the server is in communication connection with the tower crane and is used for controlling the tower crane to transport materials according to the material transporting method.
The tower crane comprises a crane arm, a lifting hook, a transfer box and an alignment device;
the transfer box is suspended below the lifting arm through a lifting hook; the transfer box includes: the conveying device comprises side box doors capable of being opened in a sliding mode, conveying rollers arranged at the bottom of the side box doors, and locking devices mutually locked with other transfer boxes;
the alignment device comprises a horizontal correction device and a vertical correction device: the horizontal correction device is arranged on the lifting hook or the transfer box and is used for horizontal angle alignment of the transfer box; the vertical correction device is arranged on the crane boom or the transfer box and used for the height alignment of the crane boom or the transfer box.
The invention has the beneficial effects that:
planning paths for transferring materials among the tower cranes according to the working range of the tower cranes on a construction site and the transfer starting point and the transfer end point of the materials, transferring the materials from a transfer box of one tower crane to a transfer box of another tower crane according to the transfer paths, and aligning the transfer boxes before transferring to ensure that side box doors of the transfer boxes are correctly butted; with this can realize that the material passes through the tower crane and transports in the air, need not to fall to the ground many times/lift by crane, need not the transportation of ground delivery vehicle, it is very convenient to can reduce and transport artificial dependence, raise the efficiency.
Drawings
FIG. 1 is a schematic structural diagram of a tower crane provided in the first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a transfer box according to a first embodiment of the present invention;
FIG. 3 is a flow chart of a material transfer method of a tower crane provided in the second embodiment of the present invention;
FIG. 4 is a schematic illustration of material being transferred in a transfer box as provided by example two of the present invention;
fig. 5 is a flowchart of a material transfer method of a tower crane provided by the third embodiment of the invention.
In the figure:
1-ground;
21-a tower body; 22-a crane boom; 23-a trolley; 24-a hook;
3-a vertical correction device; 4-horizontal correction means;
5-a transfer box; 51-side door; 52-a transfer roll; 53-locking means.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
Example one
This embodiment provides a material transfer system of tower crane, including a plurality of tower cranes and server, is applicable to the situation of transporting the material in the air between a plurality of tower cranes.
The tower crane is in communication connection with the server, information such as the position coordinates, the height, the length and the rotation amplitude of a crane arm of each tower crane, the horizontal angle of the transfer box, the starting point and the end point of transfer and the like of the tower crane are synchronized in the material transfer system, and the server is used for planning a transfer path according to a material transfer method of the tower crane and controlling the tower crane to transfer materials.
As shown in figure 1, the tower crane is installed on the ground 1, and comprises a tower body 21, a crane boom 22, a trolley 23, a lifting hook 24, a transfer box 5 and an alignment device.
The tower body 21 determines the height of the tower crane, and the lifting of the crane boom 22 is realized through a jacking mechanism; the crane boom 22 is a stressed part for lifting heavy objects and can rotate on a horizontal plane by taking the tower body 21 as an axis through a slewing mechanism; the trolley 23 can reciprocate along a track in the length direction of the crane boom 22 through a luffing mechanism, and a lifting hook 24 is arranged below the trolley; the lifting hook 24 comprises a pulley block, a steel wire rope and the like which are matched and is used for hanging heavy objects; the transfer box 5 is suspended below the crane boom 22 by means of a hook 24. The distance from the jib 22 of each tower crane to the transfer box 5 is known or the same fixed distance.
The alignment device comprises a horizontal correction device 4 and a vertical correction device 3: the horizontal correction device 4 is arranged on the lifting hook 24 or the transfer box 5 and is used for acquiring the horizontal angle of the transfer box 5, the horizontal angle alignment of the two transfer boxes 5 can be carried out through the horizontal angle, the horizontal angle of the transfer box 5 can be changed by controlling the crane boom 22 to rotate horizontally through the slewing mechanism of the tower crane, and/or controlling the transfer box 5 to rotate by rotating the lifting hook 24; the vertical correction device 3 is arranged on the crane boom 22 or the transfer box 5 and used for acquiring the vertical height of the crane boom 2 or the transfer box 5, the transfer box 5 of the two tower cranes can be aligned in height through the vertical height, and the height of the transfer box 5 can be changed by adjusting the height of the crane boom 22 and/or the length of a steel wire rope of the lifting hook 24.
As shown in fig. 2, the transfer box includes:
slidably opened side box door 51: any one of the four side surfaces of the transfer box is provided with a side box door, or two opposite side surfaces of the transfer box are respectively provided with a side box door, and the side box doors can be opened by sliding upwards or downwards.
Locking device 53 interlocked with other transfer boxes: the locking device can be self-locked after the transfer boxes are close to each other, and manual or external force operation is not needed, such as an electromagnetic lock.
In this embodiment with the tower crane integration to the material transfer system on the building site, realize information synchronization, carry out unified transportation route planning, can effectively improve transportation efficiency, the most probable breaks away from artifical influence to transporting, uses manpower sparingly.
Through this embodiment the tower crane, can place the material in the transfer box, through each part mechanism of control adjustment tower crane, make the transfer box realize counterpointing on height and horizontal angle to lock each other, open side chamber door, conveying material, realize that the material shifts the transfer box of another tower crane by the transfer box of a tower crane aloft, need not fall to the ground the back secondary and lift by crane, reduce the dependence to the manpower and occupy in place, promote the transfer efficiency.
Example two
The embodiment provides a material transferring method of a tower crane, which is implemented by the tower crane of the embodiment and is suitable for transferring materials in the air between the tower cranes.
As shown in fig. 3, the material transfer method includes the following steps:
and S11, determining a transfer path according to the transfer starting point and the transfer end point of the material and the effective working range of each tower crane.
Firstly, calculating the working range of a single tower crane according to the working height of the tower crane, the movement range of a trolley on a crane boom and the rotation amplitude of the crane boom, wherein the working range comprises the movement range of the trolley performing reciprocating motion on a track in the length direction of the crane boom, a sector area of the crane boom capable of rotating on a horizontal plane and the height of the crane boom capable of being lifted; and then determining obstacle areas including a ground obstacle area and a high-rise floor obstacle area, and respectively determining the effective working range of each tower crane according to the tower body position of the tower crane, the working range and the obstacle area. When the material is transported, the tower crane can only operate within the effective working range.
Before determining a transfer path, judging whether a tower crane with an effective working range covering the transfer starting point and the transfer end point exists or not, if so, selecting the tower crane to finish material transportation, and if not, selecting the tower crane to finish material transportation; if not, then a transfer is required and a transfer path should be further determined.
Determining a transfer path includes:
screening out tower cranes with effective working ranges covering the transfer starting points to form a first tower crane group, screening out tower cranes with effective working ranges covering the transfer end points to form a second tower crane group; and selecting a transfer starting point tower crane in the first tower crane group, and selecting a transfer end point tower crane in the second tower crane group, so that the distance between the transfer starting point tower crane and the transfer end point tower crane is shortest.
Judging whether the transfer work can be finished by the transfer starting point tower crane and the transfer end point tower crane: generally, if the effective working ranges of the transfer starting-point tower crane and the transfer end-point tower crane are partially overlapped, it is determined that the transfer work can be completed by the transfer starting-point tower crane and the transfer end-point tower crane;
otherwise, a transition tower crane between the transfer starting point tower crane and the transfer end point tower crane needs to be further determined. The method specifically comprises the following steps:
firstly, determining the minimum number of transition tower cranes between the transfer starting point tower crane and the transfer end point tower crane according to the distance between the transfer starting point tower crane and the transfer end point tower crane and the working range of a single tower crane. For example, the transfer starting-point tower crane and the transfer end-point tower crane are selected by the method, the linear distance between the transfer starting-point tower crane and the transfer end-point tower crane is 180 meters, the working range of a single tower crane can cover 20 meters, and the minimum number of transition tower cranes between the transfer starting-point tower crane and the transfer end-point tower crane can be calculated to be 9.
Then, screening the tower cranes in the connecting area of the working range of the transfer starting point tower crane and the working range of the transfer end point tower crane as a tower crane group to be selected: the tower body position of the transfer starting point tower crane is connected with the tower body position of the transfer end point tower crane, and an external tangent of the working range of the transfer starting point tower crane and an external tangent of the working range of the transfer end point tower crane are perpendicular to the connecting line, so that the distance between the two external tangents is the farthest; and the tower cranes in the area between the two external tangents are tower crane groups to be selected.
According to the tower crane transfer device, the number of the transition tower cranes needs to be larger than or equal to the minimum number of the transition tower cranes so as to ensure that two adjacent tower cranes can be connected, and therefore the transition tower cranes are selected from the tower crane group to be selected according to the minimum number of the transition tower cranes so as to enable the transition tower cranes to sequentially pass through all the transition tower cranes to transfer the transfer path of the end-point tower crane to be shortest.
Finally, checking whether the transition tower crane of the shortest transfer path can finish the transfer work according to the effective working ranges of the transfer starting point tower crane, the transition tower crane and the transfer end point tower crane, wherein the effective working ranges of two adjacent tower cranes in sequence are intersected under the general condition; if not, the selection scheme of the transition tower crane is eliminated, and the transition tower crane between the transfer starting point tower crane and the transfer end point tower crane is determined again.
If all the selection schemes for selecting the transition tower cranes according to the minimum number cannot finish the transferring work, the number of the transition tower cranes is increased on the basis of the minimum number until a relatively shortest transferring path which can finish the transferring work is generated.
And determining the transfer sequence of each tower crane according to the tower body positions of the transfer starting-point tower crane, the transition tower crane and the transfer end-point tower crane on the shortest transfer path, and determining the connection relationship of two adjacent tower cranes of the transfer sequence.
And S12, carrying out transfer box alignment between two adjacent tower cranes in the transfer sequence.
The transfer path comprises tower cranes involved in transfer, transfer orders between the tower cranes and the connection relationship between two adjacent tower cranes in the transfer order.
And transferring the materials between the transfer boxes of two adjacent tower cranes according to the transfer path obtained in the step. The prerequisite that the material shifted is the side case door counterpoint locking of transfer box, include: carrying out height alignment on the transfer boxes of the two tower cranes; and/or carrying out horizontal angle alignment on the transfer boxes of the two tower cranes.
In this embodiment, the lengths of the lifting hook and the steel wire rope thereof are the same, and the vertical correction device is arranged on the crane boom, so that the heights of the crane booms of the two tower cranes are respectively obtained; according to the vector difference of the heights of the two crane booms, the height of one or two crane booms is adjusted, so that the heights of the crane booms of the two tower cranes are consistent, and finally the heights of the two transfer boxes are consistent.
In other embodiments, the lengths of the steel wire ropes of the lifting hooks are different, and the vertical correction devices are arranged on the transfer boxes, so that the heights of the two transfer boxes are respectively obtained; and adjusting the height of one or two of the crane arms and/or the length of the lifting hook steel wire rope according to the vector difference of the heights of the two transfer boxes to enable the heights of the two transfer boxes to be consistent.
For two tower cranes with the same height of the transfer boxes, respectively acquiring the horizontal angles of the two transfer boxes, and calculating the vector difference of the two horizontal angles; according to the effective working range of the two tower cranes, one or two of the crane booms or the lifting hooks are respectively rotated to adjust the horizontal angle of one or two of the transfer boxes, so that the side box doors of the two transfer boxes are opposite and contacted, and the alignment of the side box doors is realized.
And S13, transferring the materials in the transfer box.
As shown in fig. 4, after the side box doors of the two transfer boxes are opposite and contacted, the two transfer boxes are fixed with each other through a locking device; respectively controlling side box doors of the transfer box to slide and open, and confirming that the side box doors ascend in place; according to the relation of plugging into of two adjacent tower cranes of transfer order, confirm the direction of transportation of material from the transfer box of the tower crane of plugging into to the transfer box of the tower crane of plugging into, the transfer roller of the bottom of two control transfer boxes according to the direction of transportation syntropy rotates, shifts the material from a transfer box to another transfer box in to whether real-time detection material has already been in place, and the detection mode includes but not limited to image detection, weight detection, photoelectric detection etc..
Further, after the materials are transferred in the transfer box, the method further comprises the following steps: and respectively controlling the side box doors of the transfer boxes to slide and close, and unlocking the two transfer boxes by the locking device.
The position, the effective working range of tower crane on the building site are confirmed earlier to this embodiment, make clear of the starting point and the terminal point that the material was transported, plan the transfer route of material, and perpendicular, the horizontal aligning device of rethread transfer box counterpoints the side case door of the transfer box of two tower cranes, and the back is mutually locked to the transfer box, through the transfer roller conveying material, realizes the transfer of material in the air.
EXAMPLE III
The embodiment is refined on the basis of the embodiment, and the specific transfer path calculation is carried out through the coordinate system, so that the result is more accurate.
As shown in fig. 5, the material transferring method of the tower crane comprises the following steps:
and S31, establishing a two-dimensional coordinate system parallel to the horizontal plane aiming at the construction site, and defining the tower body coordinates, the transfer starting point coordinates and the transfer end point coordinates of each tower crane in the coordinate system.
And S32, calculating the working range of the single tower crane according to the working height of the tower crane, the movement range of the trolley on the crane arm and the rotation amplitude of the crane arm.
And S33, respectively determining the effective working range of each tower crane according to the tower body position of the tower crane, the working range and the obstacle area.
S34, judging whether a tower crane with an effective working range covering the transfer starting point coordinate and the transfer end point coordinate exists or not, if yes, transferring is not needed, executing step S341, and selecting the tower crane to finish material transportation; if not, a transfer is required and step S35 is executed.
S35, screening the effective working range to cover the tower crane of the transfer starting point coordinate to form a first tower crane group, screening the effective working range to cover the tower crane of the transfer ending point coordinate to form a second tower crane group.
S36, selecting a transfer starting point tower crane in the first tower crane group, and selecting a transfer end point tower crane in the second tower crane group, so that the distance between the tower body coordinate of the transfer starting point tower crane and the tower body coordinate of the transfer end point tower crane is shortest.
And S37, judging whether the transfer work can be finished by the transfer starting point tower crane and the transfer terminal point tower crane, if so, executing the step S41, otherwise, executing the step S38.
If the coordinate ranges covered by the effective working ranges of the transfer starting point tower crane and the transfer end point tower crane are partially overlapped, the transfer work can be completed by the transfer starting point tower crane and the transfer end point tower crane.
And S38, determining a transition tower crane between the transfer starting point tower crane and the transfer end point tower crane, so that the transfer path from the tower body coordinate of the transfer starting point tower crane to the tower body coordinate of the transfer end point tower crane sequentially passes through the tower body coordinate of the transition tower crane is shortest.
The method specifically comprises the following steps:
and S381, determining the minimum number of transition tower cranes between the transfer starting point tower crane and the transfer end point tower crane according to the distance between the transfer starting point tower crane and the transfer end point tower crane and the working range of a single tower crane.
And S382, screening the tower cranes in a connecting area of the working range of the transfer starting point tower crane and the working range of the transfer end point tower crane as a tower crane group to be selected.
And S383, selecting a transition tower crane from the tower crane group to be selected according to the minimum quantity, so that the transfer path from the transfer starting point tower crane to the transfer terminal point tower crane sequentially passing through all the transition tower cranes is shortest.
S39, checking whether the transition tower crane of the shortest transfer path can finish the transfer work according to the effective working ranges of the transfer starting point tower crane, the transition tower crane and the transfer end point tower crane, if so, executing the step S40, and if not, returning to execute the step S38.
And S40, determining the transfer sequence of each tower crane according to the tower body coordinates of the transfer starting point tower crane, the transition tower crane and the transfer end point tower crane on the shortest transfer path, and determining the connection relation of two tower cranes adjacent in sequence.
Specifically, according to the tower body coordinates of each transition tower crane on a transfer path, sorting according to the coordinate value of one coordinate axis on the horizontal plane, and determining the transfer sequence of the plurality of transition tower cranes; and determining the connection relationship between two tower cranes adjacent in sequence by combining the transfer starting tower crane and the transfer end tower crane.
And S41, starting transferring.
In the embodiment, each tower crane, the transfer starting point and the transfer ending point are quantized into coordinates in a coordinate system, so that the computer system can calculate and plan the transfer path conveniently.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (15)
1. A material transferring method of a tower crane is characterized by comprising the following steps:
determining a transfer path according to a transfer starting point and a transfer end point of the material and the effective working range of each tower crane; the transfer path comprises transfer orders between at least two tower cranes and tower cranes related to transfer;
carrying out transfer box alignment between two tower cranes with adjacent transfer sequences;
the material is transferred in a transfer box.
2. The material transferring method of the tower crane according to claim 1, wherein the transferring path is determined according to the transferring starting point and the transferring end point of the material and the effective working range of each tower crane, and the method comprises the following steps:
screening out tower cranes with effective working ranges covering the transfer starting points to form a first tower crane group;
screening out tower cranes with effective working ranges covering the transfer end points to form a second tower crane group;
and selecting a transfer starting point tower crane in the first tower crane group, and selecting a transfer end point tower crane in the second tower crane group, so that the distance between the transfer starting point tower crane and the transfer end point tower crane is shortest.
3. The material transfer method of the tower crane according to claim 2, wherein after a transfer start tower crane is selected in the first tower crane group and a transfer end tower crane is selected in the second tower crane group, the method further comprises:
and judging whether the transfer starting point tower crane and the transfer end point tower crane can finish the transfer work or not, and if not, determining a transition tower crane between the transfer starting point tower crane and the transfer end point tower crane.
4. The material transfer method of the tower crane according to claim 3, wherein the step of determining the transition tower crane between the transfer starting point tower crane and the transfer end point tower crane comprises the following steps:
determining the minimum number of transition tower cranes between the transfer starting point tower crane and the transfer end point tower crane according to the distance between the transfer starting point tower crane and the transfer end point tower crane and the working range of a single tower crane;
screening the tower cranes in a connecting area of the working range of the transfer starting point tower crane and the working range of the transfer end point tower crane as a tower crane group to be selected;
and selecting transition tower cranes in the tower crane group to be selected according to the minimum quantity so as to enable the transfer path from the transfer starting point tower crane to the transfer end point tower crane to be the shortest through all the transition tower cranes in sequence.
5. The material transferring method of the tower crane according to claim 4, wherein a transition tower crane is selected from the tower crane group to be selected according to the minimum number, further comprising:
and checking whether the transition tower crane can finish the transfer work or not according to the effective working ranges of the transfer starting point tower crane, the transition tower crane and the transfer end point tower crane, and if not, re-determining the transition tower crane between the transfer starting point tower crane and the transfer end point tower crane.
6. The material transferring method of the tower crane according to claim 4, wherein after the transition tower crane is selected from the tower crane group to be selected according to the minimum number, the method further comprises the following steps:
and determining the transfer sequence of each tower crane according to the tower body positions of the transfer starting point tower crane, the transition tower crane and the transfer end point tower crane on the transfer path, and determining the connection relationship of two adjacent tower cranes of the transfer sequence.
7. The method for transferring the material of the tower crane according to claim 1, wherein before determining the transfer path according to the transfer starting point and the transfer end point of the material and the effective working range of each tower crane, the method further comprises the following steps:
judging whether a tower crane covering the transfer starting point and the transfer end point in an effective working range exists or not;
if yes, no transfer is needed;
and if not, determining a transfer path according to the transfer starting point and the transfer end point of the material and the effective working range of each tower crane.
8. The method for transferring the material of the tower crane according to claim 1, wherein before judging whether the material needs to be transferred according to a transfer starting point, a transfer end point of the material and an effective working range of each tower crane, the method further comprises:
calculating the working range of a single tower crane according to the working height of the tower crane, the movement range of a trolley on a crane boom and the rotation amplitude of the crane boom;
and determining the effective working range of each tower crane according to the tower body position of the tower crane, the working range and the obstacle area.
9. The material transfer method of the tower crane according to claim 1, wherein the transfer box alignment is performed between two tower cranes adjacent in the transfer sequence, and comprises the following steps:
carrying out height alignment on the transfer boxes of the two tower cranes; and/or the presence of a gas in the gas,
and carrying out horizontal angle alignment on the transfer boxes of the two tower cranes.
10. The material transferring method of the tower crane according to claim 9, wherein the transferring boxes of the two tower cranes are highly aligned, and the method comprises the following steps:
respectively acquiring the heights of the crane arms or the transfer boxes of the two tower cranes;
according to the two vector differences of the heights, the height of one or two of the crane arms is adjusted, so that the heights of the transfer boxes of the two tower cranes are consistent.
11. The material transferring method of the tower crane according to claim 9, wherein horizontal angle alignment is performed on transferring boxes of the two tower cranes, and the method comprises the following steps:
respectively acquiring horizontal angles of transfer boxes of the two tower cranes;
and adjusting the horizontal angle of one or two of the transfer boxes according to the vector difference of the two horizontal angles, so that the side box doors of the two transfer boxes are opposite.
12. The material transfer method of the tower crane according to claim 1, wherein transferring the material in a transfer box comprises:
fixing two transfer boxes opposite to the side box door to each other through a locking device;
respectively controlling side box doors of the transfer box to slide and open;
determining the transportation direction of the materials between the two transportation boxes according to the connection relation of two tower cranes adjacent in the transportation sequence;
and the conveying rollers controlling the bottoms of the two transfer boxes rotate in the same direction according to the conveying direction.
13. The material transfer method of the tower crane according to claim 12, wherein after the material is transferred in the transfer box, the method further comprises:
and respectively controlling the side box doors of the transfer boxes to slide and close, and unlocking the two transfer boxes by the locking device.
14. A material transfer system of a tower crane is characterized by comprising a plurality of tower cranes and servers;
the server is in communication connection with the tower crane and is used for controlling the tower crane to transport materials according to the material transporting method of any one of claims 1 to 13.
15. The material transfer system of claim 14, wherein the tower crane comprises a crane arm, a hook, a transfer box, and an alignment device;
the transfer box is suspended below the lifting arm through a lifting hook; the transfer box includes: the conveying device comprises side box doors capable of being opened in a sliding mode, conveying rollers arranged at the bottom of the side box doors, and locking devices mutually locked with other transfer boxes;
the alignment device comprises a horizontal correction device and a vertical correction device: the horizontal correction device is arranged on the lifting hook or the transfer box and is used for horizontal angle alignment of the transfer box; the vertical correction device is arranged on the crane boom or the transfer box and used for the height alignment of the crane boom or the transfer box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010043984.7A CN113120763A (en) | 2020-01-15 | 2020-01-15 | Material transferring method and system of tower crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010043984.7A CN113120763A (en) | 2020-01-15 | 2020-01-15 | Material transferring method and system of tower crane |
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| CN113120763A true CN113120763A (en) | 2021-07-16 |
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| CN202010043984.7A Pending CN113120763A (en) | 2020-01-15 | 2020-01-15 | Material transferring method and system of tower crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114757627A (en) * | 2022-06-16 | 2022-07-15 | 中建八局第二建设有限公司 | Relay type lifting path planning and scheduling method |
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