CN113135512A - Crane boom monitoring method, device and system and crane - Google Patents
Crane boom monitoring method, device and system and crane Download PDFInfo
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- CN113135512A CN113135512A CN202110473706.XA CN202110473706A CN113135512A CN 113135512 A CN113135512 A CN 113135512A CN 202110473706 A CN202110473706 A CN 202110473706A CN 113135512 A CN113135512 A CN 113135512A
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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
- 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
- B66C23/62—Constructional features or details
- B66C23/82—Luffing gear
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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
- 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
- B66C23/62—Constructional features or details
-
- 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
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
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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
- 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
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
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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
- 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)
Abstract
The disclosure relates to a crane boom monitoring method, a device and a system and a crane, wherein the monitoring method comprises the following steps: receiving angles, angular velocities and angular accelerations of the crane boom head in three directions, which are acquired by the angular motion detection component; acquiring working condition information of a crane; calculating the attitude information of the arm support and the lifting hook in the crane operation process according to the angles, the angular velocities and the angular accelerations of the head of the arm support in three directions and the working condition information of the crane; wherein, three directions include: the cantilever crane comprises a first direction, a second direction and a third direction, wherein the second direction is consistent with the extending direction of the cantilever crane, the third direction is vertical to the second direction in a vertical plane, and the first direction is vertical to the second direction and the third direction.
Description
Technical Field
The disclosure relates to the technical field of engineering machinery control, in particular to a crane boom monitoring method, device and system and a crane.
Background
The crane, especially the automobile crane, is used as a lifting and carrying engineering machine, and is widely applied to occasions such as urban building construction, factory equipment lifting, wind power lifting and the like. Along with the increase of the requirements of the crane on the lifting tonnage and the arm length, the requirements on the intelligent level and the safety performance of the crane are higher and higher.
In the hoisting process of the crane, the deformation of the arm support can cause the performance reduction of the arm support, the movement of the arm support can cause the swinging of the arm support and the lifting hook, further the swinging of the arm support and the lifting hook can cause the change of the moment borne by the arm support, the stress is increased or the unbalance loading is caused, the service life of the structural part is shortened, and the dangers of arm breakage, overturning and the like can occur in serious cases. Therefore, the monitoring capability of the boom posture and the hook posture is an important index for improving the intelligent level and the safety performance of the crane.
In the related art, one scheme is that sensors are arranged at the head and the tail of the arm, so that only the integral lateral bending or deflection of the arm support can be detected, the dynamic monitoring of the arm support cannot be realized, and the influence of the arm support movement on the swinging of the lifting hook cannot be obtained. Another solution is to mount a sensor on the hook, which can only detect the swinging of the hook. Therefore, the two schemes are difficult to accurately monitor the postures of the boom and the lifting hook, and the working safety of the crane boom cannot be ensured.
Disclosure of Invention
The embodiment of the disclosure provides a method, a device and a system for monitoring a crane boom and a crane, which can improve the working safety of the crane boom.
According to a first aspect of the present disclosure, there is provided a crane boom monitoring method, including:
receiving angles, angular velocities and angular accelerations of the crane boom head in three directions, which are acquired by the angular motion detection component;
acquiring working condition information of a crane;
calculating the attitude information of the arm support and the lifting hook in the crane operation process according to the angles, the angular velocities and the angular accelerations of the head of the arm support in three directions and the working condition information of the crane;
wherein, three directions include: the cantilever crane comprises a first direction, a second direction and a third direction, wherein the second direction is consistent with the extending direction of the cantilever crane, the third direction is vertical to the second direction in a vertical plane, and the first direction is vertical to the second direction and the third direction.
In some embodiments, the angular motion detection component comprises a three-axis gyroscope, the three-axis gyroscope being provided at the boom head.
In some embodiments, the step of calculating the attitude information of the boom according to the angles, the angular velocities and the angular accelerations of the head of the boom in three directions and the working condition information of the crane includes:
calculating the displacement of the arm support head in three directions according to the angle of the arm support head in the three directions, the arm support length and the working time information;
and calculating the speeds of the arm support head in the three directions according to the angles, the angular speeds and the angular accelerations of the arm support head in the three directions, the arm support length and the working time information.
In some embodiments, the step of calculating the attitude information of the boom further includes:
respectively calculating the amount of lateral bending and deflection of the arm support caused by telescopic action and the amount of lateral bending and deflection of the arm support caused by hoisting operation according to the displacement of the arm support head in three directions, the telescopic length of the arm support and the angle value of the arm support head;
superposing the lateral bending amounts generated by the extension and contraction actions of the arm support and the hoisting operation respectively to obtain the actual lateral bending amount of the arm support;
and superposing deflection quantities generated by the telescopic action of the arm support and the hoisting operation respectively to obtain the actual deflection quantity of the arm support.
In some embodiments, the step of calculating the attitude information of the boom during the boom telescoping action according to the angles, angular velocities and angular accelerations of the head of the boom in three directions and the working condition information of the crane further includes:
according to the displacement of the boom head in three directions, the boom extension length and the angle value of the boom head in the third direction, the amount of lateral bending of the boom is calculated;
and calculating the deflection amount of the arm support according to the displacement of the head of the arm support in three directions, the telescopic length of the arm support and the angle value of the arm support in the first direction.
In some embodiments, the step of calculating the attitude information of the boom during the hoisting operation according to the angles, angular velocities and angular accelerations of the head of the boom in three directions and the working condition information of the crane further includes:
calculating the amount of lateral bending of the arm support according to the displacement of the head of the arm support in three directions, the acting force of lifting winch on the pull rope, the actual hanging weight and the angle value of the head of the arm support in the third direction;
and calculating the deflection amount of the arm support according to the displacement of the head of the arm support in three directions, the acting force of lifting winch on the pull rope, the actual hanging weight and the angle value of the head of the arm support in the first direction.
In some embodiments, the step of calculating attitude information of the lifting hook during crane operation according to the angles, angular velocities and angular accelerations of the boom head in three directions and the working condition information of the crane includes:
calculating the transverse swinging amplitude of the lifting hook according to the angles and angular velocities of the head of the arm support in three directions, the rope outlet length of lifting winch, the working amplitude of the arm support, the rotation angle of the arm support and the working time;
and calculating the longitudinal swing amplitude of the lifting hook according to the angles and angular speeds of the head of the arm support in three directions, the rope outlet length of lifting and hoisting, the working amplitude of the arm support and the working time.
In some embodiments, the attitude information of the boom and the hook includes: the method for monitoring the crane boom comprises the following steps of:
and when any one of the lateral bending amount of the arm support, the flexibility amount of the arm support, the transverse swinging amplitude of the lifting hook and the longitudinal swinging amplitude of the lifting hook exceeds a corresponding preset threshold value, giving an alarm.
In some embodiments, further comprising: and displaying at least one of detection information of the angular motion detection component, working condition information of the crane, posture information of the arm support and the lifting hook, a preset threshold value of the posture information and monitoring prompt information in real time.
In some embodiments, the crane boom monitoring method further comprises:
and when the posture information of the arm support and the lifting hook exceeds the respective corresponding preset threshold values, the arm support is decelerated and stops acting towards the dangerous direction.
In some embodiments, for a boom with a superlift device, the crane boom monitoring method further comprises:
and when the posture information of the arm support and the lifting hook exceeds respective preset threshold values, adjusting at least one of the unfolding angle of the super-lifting support, the lengths of the left side and the right side of the super-lifting steel wire rope and the tensile force.
In some embodiments, the boom with the super lift device further comprises:
when the arm support is bent towards the first side and the bending amount exceeds a corresponding preset threshold value, at least one of the following actions is executed: the unfolding angle of the super-lift bracket is increased, the length of the super-lift steel wire rope at the second side is shortened, and the tension of the super-lift steel wire rope at the second side is increased;
wherein the first side is one of the left side and the right side, and the second side is the other of the left side and the right side.
In some embodiments, for a boom with a superlift device, the crane boom monitoring method further comprises:
when the cantilever crane deforms downwards and the deflection exceeds the corresponding preset threshold value, at least one of the following actions is executed: the unfolding angle of the super-lift bracket is reduced, the length of the super-lift steel wire ropes on the left side and the right side is shortened, and the tension of the super-lift steel wire ropes on the left side and the right side is increased; or
When the cantilever crane is subjected to flexible deformation and the deflection exceeds a corresponding preset threshold value, at least one of the following actions is executed: the unfolding angle of the super-lifting support is increased, the length of the super-lifting steel wire ropes on the left side and the right side is increased, and the tension of the super-lifting steel wire ropes on the left side and the right side is reduced.
According to a second aspect of the present disclosure, a crane boom monitoring apparatus is provided for executing the crane boom monitoring method of the above embodiment.
According to a third aspect of the present disclosure, there is provided a crane boom monitoring system, comprising:
the angular motion detection component is arranged at the boom head of the crane and is configured to acquire angles, angular velocities and angular accelerations of the boom head in three directions; and
the crane boom monitoring device of the above embodiment.
According to a fourth aspect of the present disclosure, a crane is provided, which includes the crane boom monitoring apparatus and the crane boom monitoring system of the above embodiments.
According to the crane boom monitoring method, the angle, the angular velocity and the angular acceleration of the boom head in the three-dimensional space can be obtained through the angular motion detection component, the boom posture is dynamically monitored in real time by combining the boom working condition information, the influence of boom motion and deformation on the swinging of the lifting hook is further obtained, the lifting hook posture is dynamically monitored at the same time, so that safety measures can be taken in time when the boom and the lifting hook are abnormal in posture, and the safety of crane operation is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure. In the drawings:
fig. 1 is a schematic structural view of some embodiments of a crane of the present disclosure.
Fig. 2 is a schematic structural diagram of a superlift bracket in a superlift device in a crane according to the present disclosure.
Fig. 3 is a schematic structural diagram of a superlift device in the crane disclosed by the disclosure.
Fig. 4A and 4B are schematic diagrams illustrating longitudinal swing and transverse swing of a hook during a hoisting operation of the crane according to the present disclosure.
Fig. 5A and 5B are schematic structural diagrams of the crane boom in a normal state and a side-bending state, respectively.
Fig. 6A and 6B are schematic views of the crane boom in a down-flexing state and an up-flexing state, respectively.
Fig. 7 is a schematic diagram of the amplitude variation angle and the working amplitude of the crane boom according to the disclosure.
Fig. 8 is a flow chart of some embodiments of a crane boom monitoring method of the present disclosure.
Fig. 9 is a flowchart of another embodiment of a crane boom monitoring method according to the present disclosure.
Fig. 10 is a schematic block diagram of some embodiments of the crane boom monitoring system of the present disclosure.
Fig. 11 is a schematic view of a display interface of a human-computer interaction component in the crane boom monitoring system according to the present disclosure.
Detailed Description
The present disclosure is described in detail below. In the following paragraphs, different aspects of the embodiments are defined in more detail. Aspects so defined may be combined with any other aspect or aspects unless clearly indicated to the contrary. In particular, any feature considered to be preferred or advantageous may be combined with one or more other features considered to be preferred or advantageous.
The terms "first", "second", and the like in the present disclosure are merely for convenience of description to distinguish different constituent elements having the same name, and do not denote a sequential or primary-secondary relationship.
In the description of the present invention, it is to be understood that the terms "inner", "outer", "upper", "lower", "left" and "right", etc., indicating orientations or positional relationships, are defined with reference to a driver sitting in a vehicle seat, are used for convenience of description of the present invention only, and do not indicate or imply that the device referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of the present invention.
In order to make the following embodiments more clear to those skilled in the art, some attributes will first be described.
A crane: a multi-action crane, also called a crane, for vertically lifting and horizontally moving a heavy object within a certain range.
The mobile crane comprises: the crane is rotated by using a movable arm walking by a tire type or crawler type chassis. Consists of an upper vehicle part and a lower vehicle part. During hoisting operation, the lower vehicle is used for supporting the ground; the upper vehicle finishes the hoisting operation through the actions of amplitude variation, stretching, lifting, rotation and the like. Generally, the crane comprises an automobile crane, a tire crane, a cross-country tire crane, a full-road crane, a crawler crane, a special crane and the like.
Arm support: the crane boom is an important structural device, and the operation amplitude can be changed by changing the length and the elevation angle of the boom, and the crane boom is also called as a crane boom. The telescopic boom can be divided into a telescopic boom and a truss arm according to the structural style, wherein the telescopic boom is generally a cylindrical and telescopic boom, generally consists of 3-8 sections of booms and is generally used as a main boom in an automobile crane; the truss arm is an arm of a truss structure and is generally used as an auxiliary arm in an automobile crane.
Lifting hook: the lifting device is the most common lifting device in the lifting machinery, and is usually hung on a steel wire rope of a lifting mechanism by means of pulley blocks and other components.
Deflection: when the pressure or the non-uniform temperature changes, the axis of the rod piece is linearly displaced in the direction vertical to the axis or the middle surface of the plate shell is linearly displaced in the direction vertical to the middle surface.
Side bending: the side bending distance of the extending arm of the crane and the distance between the top end of the tail arm of the crane and the central shaft of the first arm.
Super-lift: a special device used on a super-tonnage mobile crane. It provides a reverse pulling force for the boom. Therefore, the deflection of the suspension arm can be reduced, and better lifting performance and safety can be obtained.
As shown in fig. 1, the crane of the present disclosure includes an arm support 1 disposed on a chassis, and the arm support 1 is retractable, variable in amplitude, and rotatable. The root of the arm support 1 is provided with a lifting winch 3, and the lifting winch 3 is connected with the lifting hook 2 through a lifting steel wire rope 4. In order to improve the bearing capacity of the arm support 1, the crane further comprises a super-lift device, and the super-lift device comprises a super-lift bracket 5, a super-lift winch 6 and a super-lift steel wire rope 8. The super-lift support 5 is arranged on the first section of arm of the arm support 1, the super-lift winch 6 is arranged on the super-lift pulling plate 5, the super-lift winch 6 is connected with the head of the arm support 1 through a super-lift steel wire rope 8, and the super-lift support 5 is fixed through a super-lift pulling plate 7.
As shown in fig. 2, the left side and the right side of the arm support 1 are respectively provided with a super-lift bracket 5, an included angle between the super-lift bracket 5 and the center line of the arm support 1 is α, and the included angle α is adjustable.
As shown in fig. 3, the super-lift brackets 5 on the left and right sides are respectively provided with a super-lift winch 6, the super-lift winch 6 is connected with the head of the arm support 1 through a super-lift steel wire rope 8, and the tension force on the two sides of the arm support 1 can be controlled through the super-lift winches 6 on the two sides.
As shown in fig. 4A, when the boom 1 is lifted during the hoisting process of the boom 1, the hoisting steel wire rope 4 and the hook 2 theoretically move to a position right below the head of the boom 1 along the arrow direction, but due to the influence of inertia or other factors, the hook 2 may longitudinally swing outwards. As shown in fig. 4B, when the arm support 1 rotates clockwise in the direction of the arrow, the hook 2 may swing laterally to the left.
As shown in fig. 5A, which is a state diagram of the boom 1 when it is not deformed, and fig. 5B, which is a state diagram of the boom 1 when it is deformed by lateral bending, the lateral bending amount is Δ PTele.
As shown in fig. 6A, when the boom 1 is in a suspended state, the boom 1 will deform downward under the action of gravity, and the amount of deflection is Δ RTele. As shown in fig. 6B, in the boom 1 with the super-lift device, if the super-lift wire rope 8 is pulled too tightly, the boom 1 may be deformed upwards, and the amount of deflection is Δ RTele. When the upper deflection or the lower deflection deformation occurs, the arm support 1 is in a bending state.
As shown in fig. 7, an included angle γ between the boom 1 and the horizontal plane is a variable amplitude angle, and a distance a between the head of the boom 1 and the crane boarding rotation center is a working amplitude, also called a variable amplitude.
Through the above description, the crane boom 1 deforms during the working process, the position of the hook 2 changes, and the position of the hook 2 changes along with the deformation of the boom 1. In order to improve the safety of the operation of the boom 11, the present disclosure provides a monitoring method of a crane boom, which may be executed by a controller. The controller can exist independently or be integrated in a crane control system.
In some embodiments, as shown in fig. 8 and 10, includes:
110, receiving information of an angle theta, an angular velocity omega and an angular acceleration beta of the head of the crane boom 1 in three directions, which is acquired by the angular motion detection component 9;
for example, the angular motion detection component 9 is disposed at the head of the boom 1, and information of the head of the boom 1 in a three-dimensional space can be detected simultaneously by a single angular motion detection component 9, or information of the head of the boom 1 in each direction can be detected by three independent angular motion detection components 9.
For example, the angular motion detection part 9 and the controller may be connected by a hardware line to realize power supply and signal communication; or it may communicate wirelessly with the controller and have its own battery inside the angular motion detection means 9.
And 120, acquiring the working condition information of the crane, wherein the working condition information comprises the length, the amplitude, the multiplying power, the rope length and the like of the arm support.
for example, the posture information of the boom 1 includes at least one of the three-dimensional coordinates, the amount of lateral bending, and the amount of deflection of the boom 1, and the posture information of the hook 2 includes the lateral swing amplitude Rhx and the longitudinal swing amplitude Rhy of the hook 2, and the like.
Wherein, three directions include: the cantilever crane comprises a first direction x, a second direction y and a third direction z, wherein the second direction y is consistent with the extending direction of the cantilever crane 1, the third direction z is perpendicular to the second direction y in a vertical plane, and the first direction x is perpendicular to the second direction y and the third direction z.
The order of execution of steps 110 and 120 is not limited and step 130 is executed after steps 110 and 120.
According to the crane boom monitoring method, the angle, the angular velocity and the angular acceleration of the boom head in the three-dimensional space can be obtained through the angular motion detection component, the boom posture is dynamically monitored in real time by combining the boom working condition information, the influence of boom motion and deformation on the swinging of the lifting hook is further obtained, the lifting hook posture is dynamically monitored at the same time, so that safety measures can be taken in time when the boom and the lifting hook are abnormal in posture, and the safety of crane operation is improved.
The monitoring method can simultaneously obtain the postures of the arm support and the lifting hook by arranging the angular motion detection part on the arm head, has simple structure, can obtain the influence of the motion and the deformation of the arm support on the swinging of the lifting hook, considers the relevance of the lifting hook and the posture of the arm support, and can more accurately obtain the postures of the arm support and the lifting hook.
In some embodiments, the angular motion detection means 9 comprise a three-axis gyroscope, which is provided at the head of the boom 1. The gyroscope can accurately measure signals such as the position, the speed and the acceleration of the head of the arm support 1 in three directions in real time, the structure of a monitoring system can be reduced, and the installation difficulty can be reduced.
Alternatively, the angular motion detection means 9 may also include three independent detection means that detect the angular velocity ω, angular acceleration β information, and angular angle θ of three directions, respectively.
In some embodiments, the step 130 of calculating the attitude information of the boom 1 according to the angle θ, the angular velocity ω, and the angular acceleration β information of the head of the boom 1 in three directions, and the working condition information of the crane includes:
131, calculating displacement Sb of the head of the arm support 1 in three directions according to the angle theta of the head of the arm support 1 in the three directions, the length Lb of the arm support and the working time t information; the starting point of the timing of the working time t is the moment when the arm support 1 starts to execute a certain action;
and 132, calculating the speeds Vb of the head of the arm support 1 in the three directions according to the angle theta, the angular speed omega, the angular acceleration beta, the arm support length Lb and the working time t information of the head of the arm support 1 in the three directions.
Specifically, Sb ═ f (θ, Lb, t); vb is f (θ, ω, β, Lb, t).
According to the embodiment, the displacement and the speed of the head of the arm support 1 in the three-dimensional space can be monitored in real time according to the detection information of the angular motion detection part 9 and the crane working condition information, so that the position and the posture of the arm support 1 during working can be obtained, whether the current speed is safe or not can be judged through the speed information, and the posture change trend of the arm support 1 can be predicted.
The whole working process of the arm support 1 is real-time and dynamic, and the calculation and the integral calculation are respectively carried out according to the arm support state, the crane weight change and the action execution condition, which are illustrated for convenience of understanding.
1. Taking an exhibition vehicle (extending or unfolding of the arm support) as an example, timing is started under the state that the arm support 1 is completely retracted, the time required until the exhibition vehicle is completed is t1, and the displacement Sb1 generated by the arm support 1 in the process of exhibiting the vehicle is calculated.
2. Taking the hoisting as an example, when the hoisting is started, the required time is t2 when the hoisted object leaves the ground and the hoisting weight born by the arm support is not increased any more, and the displacement Sb2 generated in the hoisting process of the arm support 1 is calculated.
3. After the exhibition vehicle and the hoisting operation are performed, the displacement of the head of the boom 1 at this time is Sb1+ Sb 2.
In the process of vehicle exhibition or hoisting of the boom 1, the process information such as the displacement Sb, the speed Vb and the like can be displayed in a human-computer interaction interface, and the result information can be focused by an operator for the sake of simplicity of the interface and can be looked up through a special query interface or by calling.
In some embodiments, the step of calculating the posture information of the boom 1 in step 130 further includes:
step 133, respectively calculating a lateral bending quantity delta PTele and a deflection quantity delta RTele of the boom 1 generated by telescopic action and a lateral bending quantity delta Pload and a deflection quantity delta Rload of the boom 1 generated by hoisting operation according to the displacement of the head of the boom 1 in three directions, the telescopic length of the boom 1 and the angle theta of the head of the boom 1;
step 134, superposing a lateral bending quantity delta PTele generated by the telescopic action of the arm support 1 and a lateral bending quantity delta Pload generated by the hoisting operation to obtain an actual lateral bending quantity delta P of the arm support 1;
and 135, superposing the deflection quantity delta RTele generated by the telescopic action of the arm support 1 and the deflection quantity delta Rload generated by the hoisting operation respectively to obtain the actual deflection quantity delta R of the arm support 1.
Wherein the steps 133-135 are performed after the step 132, and the steps 131-135 are not shown in the figure. In the embodiment, when the amount of lateral bending of the arm support is calculated, the amount of deflection generated by the extension and contraction actions of the arm support and the amount of deflection generated by the hoisting operation are respectively calculated and then superposed; when the deflection amount of the arm support is calculated, the deflection amounts generated by the arm support stretching action and the hoisting operation are respectively calculated and then superposed, and by the method, the deformation generated by the arm support stretching action and the hoisting operation can be decoupled, respectively calculated and then superposed, so that the calculation difficulty can be reduced, and the accuracy of a calculation result can be improved.
In some embodiments, in step 130, according to the angle θ, the angular velocity ω, and the angular acceleration β information of the head of the boom 1 in three directions, and the working condition information of the crane, during the telescopic action of the boom 1, calculating the attitude information of the boom 1 further includes:
calculating the lateral bending quantity delta PTele of the arm support 1 according to the displacement Sb of the head of the arm support 1 in three directions, the telescopic length b _ Tele of the arm support 1 and the angle theta z of the head of the arm support 1 in the third direction z;
and calculating the deflection quantity delta RTele of the arm support 1 according to the displacement Sb of the head of the arm support 1 in three directions, the telescopic length b _ Tele of the arm support 1 and the angle theta x of the head of the arm support 1 in the first direction x.
Specifically, the method comprises the following steps:
△PTele＝f(Sb,b_Tele,θz)；△RTele＝f(Sb,b_Tele,θx)。
the telescopic length b _ Tele may be obtained by subtracting the length of the boom 1 when the boom 1 is completely retracted from the actual length of the boom 1.
According to the embodiment, the amount of lateral bending and the amount of deflection generated by boom extension can be obtained according to the displacement, the angle and the extension length information of the boom head, besides the deformation caused by the hoisting weight, the deformation generated by boom extension is considered in the calculation process, and the accuracy of boom deformation monitoring can be improved.
In some embodiments, the calculating the attitude information of the boom 1 during the hoisting operation according to the angle θ, the angular velocity ω, and the angular acceleration β of the head of the boom 1 in three directions, and the working condition information of the crane in step 130 further includes:
according to the displacement Sb of the head of the arm support 1 in three directions, the acting force b _ Hoist of the lifting winch 3 on the pull rope, the actual hanging weight r _ ActLoad and the angle theta z of the head of the arm support 1 in the third direction z, the amount of lateral bending delta Pload of the arm support 1 is calculated;
and calculating the deflection delta Rload of the arm support 1 according to the displacement Sb of the head of the arm support 1 in three directions, the acting force b _ Hoist of the lifting winch 3 on the pull rope, the actual hoisting weight r _ ActLoad and the angle theta x of the head of the arm support 1 in the first direction x.
Specifically, the method comprises the following steps:
△Pload＝f(Sb,b_Hoist,r_ActLoad,θz)；
△Rload＝f(Sb,b_Hoist,r_ActLoad,θx)。
according to the embodiment, the amount of lateral bending and the amount of deflection generated by the extension and contraction of the arm support can be obtained according to the displacement and the angle of the head of the arm support, the acting force of the lifting winch 3 on the pull rope and the actual lifting weight, and the deformation of the arm support caused by the lifting weight can be accurately calculated.
In some embodiments, the calculating the attitude information of the hook 2 during the crane operation according to the angle θ, the angular velocity ω, and the angular acceleration β information of the head of the boom 1 in three directions, and the working condition information of the crane in step 130 includes:
according to the angle theta, the angular speed omega, the rope outlet length Lr of the hoisting winch 3, the boom working amplitude Rb, the boom rotation angle alpha b and the working time t of the head of the boom 1 in three directions, the transverse swing amplitude Rhx of the lifting hook 2 is calculated;
and calculating the longitudinal swing amplitude Rhy of the lifting hook 2 according to the angle theta, the angular speed omega, the rope outlet length Lr of the lifting winch 3, the boom working amplitude Rb and the working time t of the head of the boom 1 in three directions.
Specifically, the method comprises the following steps:
Rhx＝f(θ,ω,Lr,Rb,αb,t)；
Rhy＝f(θ,ω,Lr,Rb,t)。
in the embodiment, the swing amplitude of the lifting hook 2 is calculated based on the posture of the boom 1, the influence of the posture of the boom 1 is considered when the posture of the lifting hook 2 is monitored, and the accuracy of detecting the posture of the lifting hook 2 can be improved.
In some embodiments, as shown in fig. 9, the posture information of the boom 1 and the hook 2 includes: the method for monitoring the crane boom comprises the following steps of measuring the lateral bending quantity delta P of the boom 1, the deflection quantity of the boom 1, the transverse swing amplitude of the hook 2 and the longitudinal swing amplitude of the hook 2, and the method for monitoring the crane boom further comprises the following steps:
and 150, carrying out alarm prompt.
According to the embodiment, when the postures of the arm support 1 and the lifting hook 2 exceed the safety range, the alarm is given out to prompt an operator to control the arm support to perform safety action in time, and the working safety of the arm support is improved.
In some embodiments, as shown in fig. 9, the crane boom monitoring method further includes:
and 160, displaying at least one of the detection information of the diagonal motion detection part 9, the working condition information of the crane, the posture information of the arm support 1 and the lifting hook 2, the preset threshold value of the posture information and the monitoring prompt information in real time.
As shown in fig. 10, the information may be displayed in the human-computer interaction component 11, so that an operator can know the working state of the crane in real time, and can perform adjustment operation in time when a potential safety hazard occurs, thereby improving the safety of the crane boom operation.
In some embodiments, the crane boom monitoring method further comprises:
and 170, when the posture information of the arm support 1 and the lifting hook 2 exceeds the corresponding preset threshold values, decelerating the arm support 1 and stopping acting towards the dangerous direction. For example, the boom is stopped from extending, winding up, dropping in a variable amplitude, and the like, and the operation is directed in a dangerous direction.
According to the embodiment, when the posture information of the arm support 1 and the lifting hook 2 exceeds the preset threshold value, safety control can be automatically performed, so that safety response can be timely made, and the operation safety of the arm support is improved. The arm support 1 is decelerated to slow down the deformation of the arm support and the increasing speed of the variation range of the lifting hook, and the arm support is adjusted towards the safe direction by stopping the action towards the dangerous direction.
In some embodiments, for the boom 1 having the superlift device, the crane boom monitoring method further includes:
when the posture information of the arm support 1 and the lifting hook 2 exceeds respective preset threshold values, at least one of the unfolding angle alpha of the super-lift bracket 5, the lengths of the left side and the right side of the super-lift steel wire rope 8 and the tensile force is adjusted.
When a dangerous condition occurs, the boom 1 is decelerated and stops acting towards a dangerous direction, and for the boom 1 with the super lifting device, the postures of the boom 1 and the lifting hook 2 can be adjusted by controlling the super lifting device, so that the postures of the boom 1 and the lifting hook 2 are adjusted within a safe range more quickly.
In some embodiments, for the boom 1 having the superlift device, the crane boom monitoring method further includes:
when the arm support 1 is bent towards the first side and the bending amount delta P exceeds a corresponding preset threshold, at least one of the following actions is executed: the unfolding angle alpha of the super-lift bracket 5 is increased, the length of the second side super-lift steel wire rope 8 is shortened, and the tension of the second side super-lift steel wire rope 8 is increased;
wherein the first side is one of the left side and the right side, and the second side is the other of the left side and the right side.
Specifically, when the arm support 1 is bent sideways to the left side, the unfolding angle α of the super-lift bracket 5 is appropriately increased, the length of the right super-lift steel wire rope 8 is shortened, and/or the tension of the right super-lift steel wire rope 8 is increased. When the arm support 1 is bent towards the right side, the unfolding angle of the super-lift bracket 5 is properly increased, the length of the left super-lift steel wire rope 8 is shortened, and/or the tension of the left super-lift steel wire rope 8 is increased.
In some embodiments, for the boom 1 having the superlift device, the crane boom monitoring method further includes:
when the cantilever crane 1 is deformed downwards and the deflection quantity DeltaR exceeds a corresponding preset threshold value, at least one of the following actions is executed: reducing the unfolding angle alpha of the super-lift bracket 5, shortening the lengths of the super-lift steel wire ropes 8 on the left side and the right side, and increasing the tension of the super-lift steel wire ropes 8 on the left side and the right side; or
When the cantilever crane 1 is subjected to flexible deformation and the deflection quantity DeltaR exceeds a corresponding preset threshold value, at least one of the following actions is executed: the unfolding angle alpha of the super-lift bracket 5 is increased, the lengths of the super-lift steel wire ropes 8 on the left side and the right side are increased, and the tension of the super-lift steel wire ropes 8 on the left side and the right side is reduced.
For the crane boom monitoring system disclosed by the disclosure, signals such as the angle, the angular velocity and the angular acceleration of the angular motion detection part 9 can be acquired in real time, the boom gesture, especially the boom head gesture, can be dynamically monitored in real time, the influence of the boom motion on the swinging of the lifting hook can be further acquired, when the boom gesture is abnormal or the swinging angle of the lifting hook is too large, intelligent alarm reminding is carried out, the operation speed of the handle is intelligently controlled, and an operator is guided to work safely. In addition, the method can analyze the change process of the posture of the arm support in the process from non-hoisting to hoisting, and is convenient for verifying the theoretical data of finite element analysis. In addition, the monitoring method enables the attitude of the boom to be digitalized and visualized, solves the problem that the attitude of the boom cannot be effectively and dynamically monitored in real time in the working process of the crane, and effectively improves the safety of crane operation.
Secondly, the present disclosure provides a crane boom monitoring apparatus 10, as shown in fig. 10, for executing the crane boom monitoring method of the above embodiment. The crane boom monitoring device 10 may be a controller, and may be centralized in the crane control system 200 or may be independent.
Again, the present disclosure provides a crane boom monitoring system 100, as shown in fig. 10, in some embodiments, comprising:
the angular motion detection component 9 is arranged at the head of the arm support 1 of the crane and is configured to acquire the angle theta, the angular velocity omega and the angular acceleration beta information of the head of the arm support 1 in three directions; and
the crane boom monitoring apparatus 10 of the above embodiment.
In the embodiment, the angular motion detection part 9 is arranged at the head of the arm support 1, so that the installation is easy, the power supply and the signal transmission are convenient, and the operation of the arm support 1 is not influenced. The crane boom monitoring system can obtain the influence of boom movement and deformation on the swinging of the lifting hook, considers the relevance of the lifting hook and the boom gesture, and can more accurately obtain the gestures of the boom and the lifting hook.
The number of the angular motion detection components 9 is not limited, one or more angular motion detection components 9 can be installed at the same position of the head of the arm support 1, and can also be arranged at different positions of the arm support 1, so that the dynamic changes of the structures of each section of arm support and the whole arm support can be verified more comprehensively.
For example, the angular motion detection unit 9 may be a three-axis gyroscope, and may be other sensors or device devices that can measure angular velocity, angular acceleration, velocity, and acceleration.
In some embodiments, as shown in fig. 10, the crane boom monitoring system 100 further comprises: and the human-computer interaction part 11 is configured to display at least one of the detection information of the angular motion detection part 9, the working condition information of the crane, the posture information of the arm support 1 and the lifting hook 2, a preset threshold value of the posture information and monitoring prompt information in real time.
The crane boom monitoring device 10 is electrically connected with the angular motion detection part 9 and the human-computer interaction part 11.
The information is displayed in the man-machine interaction part 11, so that an operator can know the working state of the crane in real time, adjustment operation can be performed in time when potential safety hazards appear, and the working safety of the crane boom is improved.
Further, the crane control system 200 includes: the crane control device 20 is electrically connected with the moment limiter 21 and the vehicle-mounted display component 22. The crane boom monitoring device 10 is electrically connected with the crane main control device 20, and can perform information interaction so as to control the crane boom.
Fig. 11 is a schematic view of a display interface of the human-computer interaction component 11 in the crane boom monitoring system 100 according to the present disclosure. The display interface can display the working condition information of the crane, such as: rated crane weight, actual crane weight, torque percentage, working amplitude, arm head height, wind speed and the like; the posture information of the arm support 1 and the lifting hook 2 can also be displayed, for example: the maximum allowable deflection amount, the integral deflection amount of the arm support, the transverse swing amplitude of the lifting hook, the longitudinal swing amplitude of the lifting hook and the like. When the attitude information of the arm support 1 and the lifting hook 2 approaches or exceeds a preset threshold value, an adjustment mode can be prompted, for example, when the whole lateral bending amount of the arm support approaches the allowed maximum lateral bending amount, a 'lateral bending amount to the right side is large, and an inter-arm sliding block is suggested to be adjusted' is prompted. In addition, sensor port query and historical data query functions can also be provided.
Finally, the present disclosure provides a crane, including the crane boom monitoring apparatus 10 or the crane boom monitoring system 100 of the above embodiments.
The crane boom monitoring method, the crane boom monitoring device, the crane boom monitoring system and the crane provided by the disclosure are described in detail above. The principles and embodiments of the present disclosure are explained herein using specific examples, which are set forth only to help understand the method and its core ideas of the present disclosure. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present disclosure without departing from the principle of the present disclosure, and such improvements and modifications also fall within the scope of the claims of the present disclosure.
Claims (16)
1. A crane boom monitoring method is characterized by comprising the following steps:
receiving angles, angular velocities and angular accelerations of the crane boom head in three directions, which are acquired by the angular motion detection component;
acquiring working condition information of a crane;
calculating attitude information of the boom and the lifting hook in the crane operation process according to the angles, the angular velocities and the angular accelerations of the head of the boom in three directions and the working condition information of the crane;
wherein the three directions include: the cantilever crane comprises a first direction, a second direction and a third direction, wherein the second direction is consistent with the extending direction of the cantilever crane, the third direction is perpendicular to the second direction in a vertical plane, and the first direction is perpendicular to the second direction and the third direction.
2. The crane jib monitoring method of claim 1, wherein the angular motion detection component comprises a tri-axial gyroscope disposed at the jib head.
3. The crane boom monitoring method according to claim 1, wherein the step of calculating the attitude information of the boom according to the angles, angular velocities and angular accelerations of the boom head in three directions and the working condition information of the crane comprises:
calculating the displacement of the arm support head in the three directions according to the angle of the arm support head in the three directions, the arm support length and the working time information;
and calculating the speeds of the arm support head in the three directions according to the angles, the angular speeds and the angular accelerations of the arm support head in the three directions, the arm support length and the working time information.
4. The crane boom monitoring method as claimed in claim 3, wherein the step of calculating the attitude information of the boom further comprises:
respectively calculating the amount of lateral bending and the amount of deflection of the arm support caused by telescopic action and the amount of lateral bending and the amount of deflection of the arm support caused by hoisting operation according to the displacement of the arm support head in the three directions, the telescopic length of the arm support and the angle value of the arm support head;
superposing the lateral bending amounts generated by the telescopic action and the hoisting operation of the arm support respectively to obtain the actual lateral bending amount of the arm support;
and superposing deflection quantities generated by the telescopic action of the arm support and the hoisting operation respectively to obtain the actual deflection quantity of the arm support.
5. The method for monitoring the crane boom according to claim 3, wherein the step of calculating the attitude information of the boom during the boom telescoping action according to the angles, angular velocities and angular accelerations of the boom head in three directions and the working condition information of the crane further comprises:
calculating the amount of lateral bending of the arm support according to the displacement of the arm support head in the three directions, the telescopic length of the arm support and the angle value of the arm support head in the third direction;
and calculating the deflection of the arm support according to the displacement of the arm support head in the three directions, the arm support telescopic length and the angle value of the arm support head in the first direction.
6. The method for monitoring the crane boom according to claim 3, wherein the step of calculating the attitude information of the boom according to the angles, angular velocities and angular accelerations of the boom head in three directions and the working condition information of the crane during the hoisting operation further comprises:
calculating the amount of lateral bending of the arm support according to the displacement of the arm support head in the three directions, the acting force of lifting winch on the pull rope, the actual hanging weight and the angle value of the arm support head in the third direction;
and calculating the deflection amount of the arm support according to the displacement of the head of the arm support in the three directions, the acting force of lifting winch on the pull rope, the actual hoisting weight and the angle value of the arm support in the first direction.
7. The crane boom monitoring method according to claim 1, wherein the step of calculating attitude information of the hook during crane operation according to the angles, angular velocities and angular accelerations of the boom head in three directions and the working condition information of the crane comprises:
calculating the transverse swinging amplitude of the lifting hook according to the angles and angular velocities of the head of the arm support in three directions, the rope outlet length of lifting and hoisting, the working amplitude of the arm support, the rotation angle of the arm support and the working time;
and calculating the longitudinal swing amplitude of the lifting hook according to the angles and angular speeds of the head of the arm support in three directions, the rope outlet length of lifting and hoisting, the working amplitude of the arm support and the working time.
8. The crane boom monitoring method according to any one of claims 1 to 7, wherein the attitude information of the boom and the hook comprises: the method for monitoring the crane boom comprises the following steps of:
and when any one of the amount of lateral bending of the arm support, the amount of deflection of the arm support, the transverse swinging amplitude of the lifting hook and the longitudinal swinging amplitude of the lifting hook exceeds a corresponding preset threshold value, giving an alarm.
9. The crane boom monitoring method according to any one of claims 1 to 7, further comprising: and displaying at least one of the detection information of the angular motion detection component, the working condition information of the crane, the posture information of the arm support and the lifting hook, a preset threshold value and monitoring prompt information in real time.
10. The crane boom monitoring method according to any one of claims 1 to 7, further comprising:
and when the posture information of the arm support and the lifting hook exceeds the respective corresponding preset threshold values, the arm support is decelerated and stops acting towards the dangerous direction.
11. The method for monitoring the crane boom according to any one of claims 1 to 7, wherein the method further comprises the following steps for the boom with the super lifting device:
and when the posture information of the arm support and the lifting hook exceeds respective preset threshold values, adjusting at least one of the unfolding angle of the super-lifting support, the lengths of the left side and the right side of the super-lifting steel wire rope and the tensile force.
12. The crane boom monitoring method according to any one of claims 1 to 7, wherein the method further comprises, for a boom having a superlift device:
when the arm support is bent towards the first side and the bending amount exceeds a corresponding preset threshold value, at least one of the following actions is executed: the unfolding angle of the super-lift bracket is increased, the length of a second side super-lift steel wire rope is shortened, and the tension of the second side super-lift steel wire rope is increased;
wherein the first side is one of a left side and a right side, and the second side is the other of the left side and the right side.
13. The crane boom monitoring method according to any one of claims 1 to 7, wherein the method further comprises, for a boom having a superlift device:
when the cantilever crane deforms downwards and the deflection exceeds a corresponding preset threshold value, at least one of the following actions is executed: reducing the unfolding angle of the super-lifting support, shortening the length of the super-lifting steel wire ropes on the left side and the right side, and increasing the tension of the super-lifting steel wire ropes on the left side and the right side; or
When the cantilever crane is subjected to flexible deformation and the deflection exceeds a corresponding preset threshold value, at least one of the following actions is executed: the unfolding angle of the super-lifting support is increased, the length of the super-lifting steel wire ropes on the left side and the right side is increased, and the tension of the super-lifting steel wire ropes on the left side and the right side is reduced.
14. A crane boom monitoring device is characterized by being used for executing the crane boom monitoring method as claimed in any one of claims 1 to 13.
15. A crane boom monitoring system, comprising:
the angular motion detection component is arranged at the boom head of the crane and is configured to acquire angles, angular velocities and angular accelerations of the boom head in three directions; and
the crane boom monitoring apparatus of claim 14.
16. A crane comprising a crane boom monitoring apparatus as claimed in claim 14 or a crane boom monitoring system as claimed in claim 15.
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| CN113340257A (en) * | 2021-08-09 | 2021-09-03 | 三一汽车起重机械有限公司 | Crane sidewise bending detection method and device, crane and electronic equipment |
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| CN113135512B (en) | 2024-02-13 |
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