CN113135512B - 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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- CN113135512B CN113135512B CN202110473706.XA CN202110473706A CN113135512B CN 113135512 B CN113135512 B CN 113135512B CN 202110473706 A CN202110473706 A CN 202110473706A CN 113135512 B CN113135512 B CN 113135512B
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- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000012544 monitoring process Methods 0.000 title claims abstract description 64
- 230000033001 locomotion Effects 0.000 claims abstract description 38
- 230000001133 acceleration Effects 0.000 claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 230000008569 process Effects 0.000 claims abstract description 23
- 238000005452 bending Methods 0.000 claims description 43
- 230000009471 action Effects 0.000 claims description 38
- 229910000831 Steel Inorganic materials 0.000 claims description 26
- 239000010959 steel Substances 0.000 claims description 26
- 238000006073 displacement reaction Methods 0.000 claims description 25
- 238000012806 monitoring device Methods 0.000 claims description 9
- 238000004904 shortening Methods 0.000 claims description 3
- 230000036544 posture Effects 0.000 description 33
- 230000003993 interaction Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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
Abstract
The disclosure relates to a crane boom monitoring method, device and system and a crane, wherein the monitoring method comprises the following steps: receiving the angles, the angular speeds and the 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; according to the angles, angular velocities and angular accelerations of the arm support head in three directions and working condition information of the crane, calculating attitude information of the arm support and the lifting hook in the operation process of the crane; wherein, three directions include: the first direction, the second direction and the third direction, the second direction is consistent with the extension direction of the arm support, the third direction is perpendicular to the second direction in the vertical plane, and the first direction is perpendicular 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, particularly the automobile crane, is used as a hoisting and carrying engineering machine and is widely applied to occasions such as urban building construction, factory equipment hoisting, wind power hoisting and the like. Along with the increase of the lifting tonnage and arm length requirements of the crane, the requirements on the intelligent level and the safety performance of the crane are higher and higher.
In the lifting 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 swing of the arm support and the lifting hook, and then the swing of the arm support and the lifting hook can cause the change of moment born by the arm support, so that the stress is increased or the load is offset, the service life of a structural member is shortened, and the risks of arm breakage, vehicle rollover and the like can occur in severe cases. Therefore, the monitoring capability of the arm support posture and the lifting hook posture is an important index for improving the intelligent level and the safety performance of the crane.
In the related art, the sensors are arranged at the arm head and the arm tail, so that the whole side bending or deflection of the arm support can be detected, the dynamic monitoring of the arm support can not be realized, and the influence of the arm support motion on the swing of the lifting hook can not be obtained. Another solution is to mount a sensor on the hook that can only detect the swing of the hook. Therefore, the two schemes are difficult to accurately monitor the arm support and the lifting hook gesture, and the safety of the operation of the crane arm support cannot be ensured.
Disclosure of Invention
The embodiment of the disclosure provides a crane boom monitoring method, device and system 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 the angles, the angular speeds and the 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;
according to the angles, angular velocities and angular accelerations of the arm support head in three directions and working condition information of the crane, calculating attitude information of the arm support and the lifting hook in the operation process of the crane;
wherein, three directions include: the first direction, the second direction and the third direction, the second direction is consistent with the extension direction of the arm support, the third direction is perpendicular to the second direction in the vertical plane, and the first direction is perpendicular to the second direction and the third direction.
In some embodiments, the angular motion detection component comprises a tri-axis gyroscope disposed on the boom head.
In some embodiments, the step of calculating the attitude information of the boom according to the angles, the angular speeds and the angular accelerations of the boom head in three directions and the working condition information of the crane includes:
calculating displacement of the arm support head in three directions according to the angles of the arm support head in the three directions, the length of the arm support and the working time information;
and calculating the speeds of the arm support head in the three directions according to the angle, the angular speed and the angular acceleration 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 boom attitude information further comprises:
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, the side bending amount and the deflection amount of the arm support due to telescopic action and the side bending amount and the deflection amount of the arm support due to lifting action are calculated respectively;
superposing the side bending amounts respectively generated by the telescopic action and the hoisting action of the arm support to obtain the actual side bending amount of the arm support;
and superposing deflection amounts generated by the telescopic action and the hoisting action of the arm support respectively to obtain the actual deflection amount of the arm support.
In some embodiments, according to the angles, angular speeds and angular accelerations of the boom head in three directions and the working condition information of the crane, the step of calculating the posture information of the boom in the telescopic action process of the boom further includes:
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 in a third direction, the side bending amount of the arm support is calculated;
and calculating the deflection of the arm support 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 in the first direction.
In some embodiments, according to the angles, angular speeds and angular accelerations of the boom head in three directions and the working condition information of the crane, the step of calculating the attitude information of the boom in the hoisting operation process further includes:
calculating the side bending amount of the arm support according to the displacement of the arm support head in three directions, the acting force of the lifting winch on the stay cord, the actual lifting weight 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 three directions, the acting force of the lifting winch on the stay cord, the actual lifting weight and the angle value of the arm support head in the first direction.
In some embodiments, the step of calculating the attitude information of the lifting hook in the crane operation process according to the angles, the angular speeds and the angular accelerations of the boom head in three directions and the working condition information of the crane comprises the following steps:
calculating the transverse swing amplitude of the lifting hook according to the angles and the angular speeds of the head of the arm support in three directions, the rope outlet length of the 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 the angular speeds of the arm support head in three directions, the rope outlet length of the lifting winch, the working amplitude and the working time of the arm support.
In some embodiments, the boom and hook pose information includes: the crane boom monitoring method comprises the following steps of:
and when any one of the side bending amount of the arm support, the deflection amount of the arm support, the transverse swing amplitude of the lifting hook and the longitudinal swing amplitude of the lifting hook exceeds the corresponding preset threshold value, alarming and prompting are carried out.
In some embodiments, further comprising: and displaying at least one of detection information of the diagonal movement detection part, working condition information of the crane, attitude information of the arm support and the lifting hook, a preset threshold value and monitoring prompt information in real time.
In some embodiments, the crane boom monitoring method further comprises:
when the gesture information of the arm support and the lifting hook exceeds the corresponding preset threshold values, the arm support is decelerated, and the action towards the dangerous direction is stopped.
In some embodiments, for a boom with a super lift device, the crane boom monitoring method further comprises:
when the gesture information of the arm support and the lifting hook exceeds the respective preset threshold, at least one of the expansion angle of the super-lifting support, the length of the left side and the length of the right side of the super-lifting steel wire rope and the tensile force is adjusted.
In some embodiments, for the boom with the superlift device, further comprising:
when the arm support bends sideways towards the first side and the sideways bending amount exceeds a corresponding preset threshold value, at least one of the following actions is executed: increasing the unfolding angle of the super-lifting support, shortening the length of the second side super-lifting steel wire rope and increasing the tension of the second side super-lifting steel wire rope;
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 super lift device, the crane boom monitoring method further comprises:
when the arm support is deformed in a down-warping way and the deflection exceeds a corresponding preset threshold value, executing at least one of the following actions: the unfolding angle of the super-lifting support is reduced, the lengths of the super-lifting steel wire ropes at the left side and the right side are shortened, and the tension of the super-lifting steel wire ropes at the left side and the right side is increased; or (b)
When the arm support is deformed in a bending manner and the deflection exceeds a corresponding preset threshold, executing at least one of the following actions: the unfolding angle of the super-lifting support is increased, the lengths of the super-lifting steel wire ropes at the left side and the right side are increased, and the tension of the super-lifting steel wire ropes at 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 arm support head of the crane and is configured to acquire the angles, the angular speeds and the angular accelerations of the arm support head in three directions; and
the crane boom monitoring device of the embodiment.
According to a fourth aspect of the present disclosure, there is provided a crane, including the crane boom monitoring device and the crane boom monitoring system of the above embodiments.
According to the crane boom monitoring method, the angle, the angular speed 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 with the boom working condition information, and further the influence of the boom motion and deformation on the swing of the lifting hook is obtained, so that the lifting hook posture is dynamically monitored at the same time, and safety measures can be timely taken when the boom and the lifting hook posture are abnormal, and therefore 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 embodiments of the disclosure and together with the description serve to explain the disclosure and do not constitute an undue limitation on 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 view of a super-lift bracket in a super-lift device of a crane according to the present disclosure.
Fig. 3 is a schematic structural view of a superlift device in a crane according to the present disclosure.
Fig. 4A and 4B are schematic views of longitudinal and lateral swing, respectively, of a hook of a crane of the present disclosure during execution of a lifting operation.
Fig. 5A and 5B are schematic structural views of a crane boom according to the present disclosure in a normal state and a side-bending state, respectively.
Fig. 6A and 6B are schematic views of the crane boom in a down-bent and up-bent state, respectively.
Fig. 7 is a schematic diagram of the luffing angle and working amplitude of the crane boom of the present disclosure.
Fig. 8 is a flow chart of some embodiments of a crane boom monitoring method of the present disclosure.
Fig. 9 is a flow chart of other embodiments of the crane boom monitoring method of the present disclosure.
Fig. 10 is a schematic block diagram of some embodiments of a crane boom monitoring system of the present disclosure.
Fig. 11 is a schematic diagram of a display interface of a man-machine interaction component in the crane boom monitoring system of the present disclosure.
Detailed Description
The present disclosure is described in detail below. In the following paragraphs, the different aspects of the embodiments are defined in more detail. Aspects so defined may be combined with any other aspect or aspects unless explicitly stated to be non-combinable. In particular, any feature or features may be combined with one or more other features may be desired and advantageous.
The terms "first," "second," and the like in this disclosure are merely for convenience of description to distinguish between different constituent components having the same name, and do not denote a sequential or primary or secondary relationship.
In the description of the present invention, it should be understood that the terms "inner", "outer", "upper", "lower", "left" and "right", etc. are defined based on the driver sitting in the vehicle seat, and are merely for convenience in describing the present invention, and do not indicate or imply that the device must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the scope of the present invention.
In order to make the following examples more apparent to those skilled in the art, some of them will be described first.
And (3) a crane: multi-action hoisting machinery, also called a crane, for vertically lifting and horizontally carrying weights within a certain range.
Mobile crane: a swing arm rotary crane utilizing a tire type or crawler type chassis for walking. Consists of two parts of an upper vehicle and a lower vehicle. When in hoisting operation, the lower vehicle is used for supporting the ground; the loading finishes the hoisting operation through actions such as amplitude variation, expansion, lifting, rotation and the like. Generally includes truck cranes, tire cranes, off-road tire cranes, all-terrain cranes, crawler cranes, special cranes, and the like.
Arm support: an important structural device on a crane can change the operation amplitude by changing the length and the elevation angle of a boom, and is also called a crane boom. The telescopic arm is a cylindrical telescopic arm, is generally composed of 3-8 sections of arms and is generally used as a main arm in an automobile crane; the truss arm is an arm of truss structure, and is generally used as a sub-arm in an automobile crane.
Lifting hook: is the most common lifting appliance in hoisting machinery, and is often hung on a steel wire rope of a hoisting mechanism by means of pulley blocks and other parts.
Deflection: when the stress 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 distance between the top end of the tail arm of the crane and the central shaft of the first arm.
Superlifting: a special device used on a super-tonnage mobile crane. It provides a counter pulling force for the boom. Therefore, deflection of the suspension arm can be reduced, and better lifting performance and safety are obtained.
As shown in fig. 1, the crane of the present disclosure includes a boom 1 provided on a chassis, the boom 1 being telescopic, 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 a lifting hook 2 through a lifting steel wire rope 4. In order to improve the bearing capacity of the boom 1, the crane further comprises a superlift device, wherein the superlift device comprises a superlift bracket 5, a superlift winch 6 and a superlift steel wire rope 8. The first arm of the arm support 1 is provided with a superlift bracket 5, the superlift pulling plate 5 is provided with a superlift winch 6, the superlift winch 6 is connected with the head of the arm support 1 through a superlift steel wire rope 8, and the superlift bracket 5 is fixed through the superlift 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-lifting support 5, the included angle between the super-lifting support 5 and the central line of the arm support 1 is alpha, and the included angle alpha is adjustable.
As shown in fig. 3, the super-lifting brackets 5 on the left side and the right side are respectively provided with a super-lifting winch 6, the super-lifting winch 6 is connected with the head of the arm support 1 through a super-lifting steel wire rope 8, and the tension on the two sides of the arm support 1 can be controlled through the super-lifting winches 6 on the two sides.
As shown in fig. 4A, when the boom 1 is lifted during the process of lifting the boom 1, theoretically, the lifting wire rope 4 and the lifting hook 2 will move to a position right under the head of the boom 1 along the arrow direction, but due to the influence of inertia or other factors, the lifting hook 2 may deflect outwards longitudinally. As shown in fig. 4B, when the boom 1 rotates clockwise in the arrow direction, the hook 2 may laterally swing to the left.
Fig. 5A is a state diagram of the boom 1 when it is not deformed, and fig. 5B is a state diagram of the boom 1 when it is deformed by bending, and the amount of bending is Δptele.
As shown in fig. 6A, the boom 1 is in a suspended state, and under the action of gravity, the boom 1 is deformed by buckling, and the buckling amount is Δrtele. As shown in fig. 6B, in the boom 1 with the superlift device, if the superlift wire rope 8 is pulled too tightly, the boom 1 may be deformed by buckling, and the buckling amount is Δrtele. When the arm support 1 is deformed by upward or downward deflection, the arm support is in a bent state.
As shown in fig. 7, an included angle γ between the boom 1 and the horizontal plane is a luffing angle, and a distance a between the head of the boom 1 and the center of rotation of the crane upper vehicle is a working amplitude, which is also called luffing amplitude.
Through the above description, the boom 1 of the crane is deformed during the working process, and the position of the lifting hook 2 itself is changed, and the position of the lifting hook 2 is also changed 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 crane boom monitoring method, which may be performed by a controller. The controller may be present alone or may be integrated in the crane control system.
In some embodiments, as shown in fig. 8 and 10, comprising:
step 110, receiving the angle theta, the angular velocity omega and the angular acceleration beta information of the head of the crane boom 1 in three directions, which are acquired by the angular motion detection component 9;
for example, the angular motion detecting part 9 is provided on the head of the boom 1, and the information of the head of the boom 1 in the three-dimensional space can be detected simultaneously by a single angular motion detecting part 9, or the information of the head of the boom 1 in each direction can be detected by three independent angular motion detecting parts 9.
For example, the angular movement detection part 9 and the controller may be connected by a hardware line to achieve power supply and signal communication; or it may communicate wirelessly with the controller and self-charge the inside of the angular movement detection part 9.
Step 120, acquiring working condition information of the crane, including arm support length, amplitude, multiplying power, rope length and the like.
130, calculating attitude information of the boom 1 and the lifting hook 2 in the operation process of the crane according to information of angles theta, angular speeds omega and angular accelerations beta of the head of the boom 1 in three directions and working condition information of the crane;
for example, the posture information of the boom 1 includes at least one of three-dimensional coordinates, a lateral bending amount, and a deflection amount of the boom 1, and the posture information of the hook 2 includes a lateral swing amplitude Rhx and a longitudinal swing amplitude Rhy of the hook 2, and the like.
Wherein, three directions include: the first direction x, the second direction y and the third direction z are consistent with the extension direction of the arm support 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 performed after steps 110 and 120.
According to the crane boom monitoring method, the angle, the angular speed 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 with the boom working condition information, and further the influence of the boom motion and deformation on the swing of the lifting hook is obtained, so that the lifting hook posture is dynamically monitored at the same time, and safety measures can be timely taken when the boom and the lifting hook posture are abnormal, and therefore the safety of crane operation is improved.
According to the monitoring method, the angular movement detection part is arranged on the arm head, so that the postures of the arm support and the lifting hook can be obtained simultaneously, the structure is simple, the influence of the movement and deformation of the arm support on the swinging of the lifting hook can be obtained, the relevance between the lifting hook and the posture of the arm support is considered, and the postures of the arm support and the lifting hook can be obtained more accurately.
In some embodiments, the angular motion detection means 9 comprise a three-axis gyroscope provided on the head of the boom 1. The gyroscope can accurately measure the position, speed, acceleration and other signals of the head of the arm support 1 in three directions in real time, so that the structure of a monitoring system can be reduced, and the installation difficulty is reduced.
Alternatively, the angular movement detecting section 9 may also include three independent detecting sections that detect the angle θ, the angular velocity ω, and the angular acceleration β information in the three directions, respectively.
In some embodiments, step 130 includes calculating the attitude information of the boom 1 according to the information of 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:
step 131, calculating displacement Sb of the head of the arm support 1 in three directions according to information of angles theta, arm support lengths Lb and working time t of the head of the arm support 1 in the three directions; the timing starting point of the working time t is the moment when the arm support 1 starts to execute a certain action;
and 132, calculating the speed Vb of the head of the arm support 1 in three directions according to the information of the angle theta, the angular speed omega and the angular acceleration beta of the head of the arm support 1 in the three directions, the length Lb of the arm support and the working time t.
Specifically, sb=f (θ, lb, t); vb=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 component 9 and the crane working condition information, so that the position 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 is calculated and calculated integrally according to the arm support state, the weight change of the crane and the action execution condition, so as to facilitate understanding and illustration.
1. Taking the vehicle-expanding (the arm support stretches out or expands) as an example, starting timing in a state that the arm support 1 is fully retracted, taking the time t1 until the vehicle-expanding is completed, and calculating the displacement Sb1 generated by the arm support 1 in the vehicle-expanding process.
2. Taking lifting as an example, timing when lifting starts, when a lifted object leaves the ground and the lifting weight borne by the arm support is not increased, the required time is t2, and calculating the displacement Sb2 generated by the arm support 1 in the lifting process.
3. After the vehicle-expanding and hoisting operation is performed, the displacement of the head of the arm support 1 is sb=sb1+sb2.
In the process of expanding or hoisting the arm support 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 checked through a special query interface or calling.
In some embodiments, the step of calculating the attitude information of the boom 1 in step 130 further includes:
step 133, according to displacement of the head of the arm support 1 in three directions, the telescopic length of the arm support 1 and the angle theta of the head of the arm support 1, respectively calculating a side bending quantity delta PTele and a deflection quantity delta RTele of the arm support 1 caused by telescopic action, and a side bending quantity delta Pload and a deflection quantity delta Rload of the arm support 1 caused by lifting operation;
step 134, superposing the lateral bending quantity delta PTele generated by the telescopic action of the arm support 1 and the lateral bending quantity delta Plaad generated by the lifting operation to obtain the actual lateral bending quantity delta P of the arm support 1;
and 135, superposing the deflection delta RTele generated by the telescopic action of the arm support 1 and the deflection delta Rload generated by the hoisting operation respectively to obtain the actual deflection delta R of the arm support 1.
Steps 133 to 135 are performed after step 132, and steps 131 to 135 are not illustrated in the figure. When the side bending amount of the arm support is calculated, the deflection amounts respectively generated by the telescopic action of the arm support and the lifting operation are calculated and then overlapped; when the deflection amount of the arm support is calculated, the deflection amounts generated by the telescopic action and the lifting action of the arm support are calculated and overlapped respectively, and the deformation generated by the telescopic action and the lifting action of the arm support can be decoupled and calculated and overlapped respectively in the mode, so that the calculation difficulty can be reduced, and the accuracy of the calculation result can be improved.
In some embodiments, in step 130, according to the information of 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 the telescopic action process of the boom 1, calculating the posture information of the boom 1 further includes:
calculating the side 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;
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 thetax of the head of the arm support 1 in the first direction x, the deflection delta RTele of the arm support 1 is calculated.
Specifically:
△PTele＝f(Sb,b_Tele,θz)；△RTele＝f(Sb,b_Tele,θx)。
the telescopic length b_tele may be the actual length of the boom 1 minus the length of the boom 1 when it is fully retracted.
According to the embodiment, the side bending amount and deflection amount generated by the telescopic boom can be obtained according to the displacement, angle and telescopic length information of the head of the boom, besides the deformation caused by the hoisting, the deformation generated by the telescopic boom is considered in the calculation process, and the accuracy of monitoring the deformation of the boom can be improved.
In some embodiments, in step 130, according to the information of 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, calculating the attitude information of the boom 1 in the hoisting operation process further includes:
calculating the side bending quantity delta Pload 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 lifting weight r_ActLoad and the angle theta z of the head of the arm support 1 in the third direction z;
according to displacement Sb of the head of the arm support 1 in three directions, acting force b_Hoist of the lifting winch 3 on the pull rope, actual lifting weight r_ActLoad and angle thetax of the head of the arm support 1 in the first direction x, deflection delta Rload of the arm support 1 is calculated.
Specifically:
△Pload＝f(Sb,b_Hoist,r_ActLoad,θz)；
△Rload＝f(Sb,b_Hoist,r_ActLoad,θx)。
according to the embodiment, the side bending amount and the deflection amount generated by the extension 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 stay 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, in step 130, calculating the attitude information of the hook 2 during the crane operation according to the information of 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 includes:
according to the angle theta and the angular velocity omega of the head of the arm support 1 in three directions, the rope outlet length Lr of the lifting winch 3, the arm support working amplitude Rb, the arm support rotation angle alpha b and the working time t, 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 and the angular speed omega of the head of the arm support 1 in three directions, the rope outlet length Lr of the lifting winch 3, the arm support working amplitude Rb and the working time t.
Specifically:
Rhx＝f(θ,ω,Lr,Rb,αb,t)；
Rhy＝f(θ,ω,Lr,Rb,t)。
according to the embodiment, the swing amplitude of the lifting hook 2 is calculated based on the posture of the arm support 1, the influence of the posture of the arm support 1 is considered when the posture of the lifting hook 2 is monitored, and the accuracy of the posture detection of the lifting hook 2 can be improved.
In some embodiments, as shown in fig. 9, the attitude information of the boom 1 and the hook 2 includes: the side bending amount delta P of the arm support 1, the deflection amount of the arm support 1, the transverse swing amplitude of the lifting hook 2 and the longitudinal swing amplitude of the lifting hook 2, and the crane arm support monitoring method further comprises the following steps:
step 140, judging whether any one of the side bending amount delta PTele of the arm support 1, the deflection amount delta R of the arm support 1, the transverse swing amplitude Rhx of the lifting hook 2 and the longitudinal swing amplitude Rhy of the lifting hook 2 exceeds the corresponding preset threshold value, if yes, executing step 150, otherwise, performing normal operation;
and 150, alarming.
According to the embodiment, when the postures of the arm support 1 and the lifting hook 2 exceed the safety range, the alarm is used for prompting, an operator is timely reminded of controlling the arm support to perform safety action, and the safety of the arm support operation is improved.
In some embodiments, as shown in fig. 9, the crane boom monitoring method further includes:
and 160, displaying at least one of detection information of the diagonal movement detection component 9, working condition information of the crane, attitude information of the arm support 1 and the lifting hook 2, a preset threshold value and monitoring prompt information in real time.
As shown in fig. 10, the above information may be displayed in the man-machine interaction part 11, so that an operator knows the working state of the crane in real time, so as to adjust in time when a potential safety hazard occurs, and improve the working safety of the crane arm support.
In some embodiments, the crane boom monitoring method further comprises:
and 170, decelerating the arm support 1 and stopping moving towards the dangerous direction when the posture information of the arm support 1 and the lifting hook 2 exceed the corresponding preset threshold values. For example, the arm support is stopped from extending, rolling up, luffing, and the like, and the arm support is stopped from moving in a dangerous direction.
According to the embodiment, when the gesture information of the arm support 1 and the lifting hook 2 exceeds the preset threshold, 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 fluctuation range of the lifting hook, and the arm support can be adjusted towards the safety direction by stopping the action towards the dangerous direction.
In some embodiments, for the boom 1 with the super lifting device, the crane boom monitoring method further comprises:
when the posture information of the arm support 1 and the lifting hook 2 exceeds the respective preset threshold values, at least one of the unfolding angle alpha of the super-lifting support 5, the lengths of the left side and the right side of the super-lifting steel wire rope 8 and the tensile force is adjusted.
When dangerous conditions occur, besides enabling the arm support 1 to slow down and stop moving towards dangerous directions, for the arm support 1 with the super lifting device, the gestures of the arm support 1 and the lifting hook 2 can be adjusted through controlling the super lifting device, so that the gestures of the arm support 1 and the lifting hook 2 can be adjusted within a safety range more quickly.
In some embodiments, for the boom 1 with the super lifting device, the crane boom monitoring method further comprises:
when the arm support 1 bends sideways towards the first side and the bending amount deltap exceeds a corresponding preset threshold value, at least one of the following actions is executed: increasing the unfolding angle alpha of the super-lifting support 5, shortening the length of the second side super-lifting steel wire rope 8 and increasing the tension of the second side super-lifting steel wire rope 8;
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 boom 1 is bent sideways to the left, the deployment angle α of the superlift brackets 5 is appropriately increased, the length of the right superlift wire ropes 8 is shortened, and/or the tension of the right superlift wire ropes 8 is increased. When the arm support 1 is bent sideways to the right, the unfolding angle of the super-lift bracket 5 is properly increased, the length of the left super-lift wire rope 8 is shortened, and/or the tension of the left super-lift wire rope 8 is increased.
In some embodiments, for the boom 1 with the super lifting device, the crane boom monitoring method further comprises:
when the arm support 1 is deformed in a down-warping manner and the deflection delta R exceeds a corresponding preset threshold value, at least one of the following actions is executed: the unfolding angle alpha of the super-lifting support 5 is reduced, the lengths of the super-lifting steel wire ropes 8 on the left side and the right side are shortened, and the tension of the super-lifting steel wire ropes 8 on the left side and the right side is increased; or (b)
When the arm support 1 is deformed in a bending way and the deflection delta R exceeds a corresponding preset threshold value, executing at least one of the following actions: increasing the unfolding angle alpha of the super-lifting support 5, increasing the lengths of the super-lifting steel wire ropes 8 on the left side and the right side, and reducing the tension of the super-lifting steel wire ropes 8 on the left side and the right side.
With the crane boom monitoring system disclosed by the disclosure, signals such as the angle, the angular speed and the angular acceleration of the angular motion detection component 9 can be acquired in real time, the boom posture, especially the boom head posture, can be dynamically monitored in real time, further, the influence of the boom motion on the swing of the lifting hook is acquired, and when the boom posture is abnormal or the swing angle of the lifting hook is overlarge, intelligent alarm reminding is carried out, the operation speed of the crane is intelligently controlled, and an operator is guided to work safely. In addition, the method can analyze the change process of the arm support posture in the process from non-lifting to lifting of the arm support, and is convenient for verifying theoretical data of finite element analysis. In addition, the monitoring method has the advantages that the boom posture is dataized and visualized, the problem that the boom posture cannot be effectively and dynamically monitored in real time in the working process of the crane is solved, and the safety of the crane operation is effectively improved.
Next, 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 can adopt a controller, and can be centralized in the crane control system 200 or can be independently arranged.
Again, the present disclosure provides a crane boom monitoring system 100, as shown in fig. 10, in some embodiments comprising:
an angular motion detection part 9, which is arranged at the head of the arm support 1 of the crane and is configured to acquire information of angles theta, angular velocities omega and angular accelerations beta of the head of the arm support 1 in three directions; and
the crane boom monitoring device 10 of the above embodiment.
In the embodiment, the angular movement detection part 9 is arranged on 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 swing of the lifting hook, considers the relevance between the lifting hook and the boom posture, and can more accurately obtain the boom and the lifting hook posture.
The number of the angular motion detection parts 9 is not limited, and one or more angular motion detection parts 9 can be arranged 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 dynamic structural changes of each section of arm support and the whole arm support can be verified more comprehensively.
For example, the angular motion detection means 9 may be a three-axis gyroscope, but may be other sensors or devices that measure angular velocity, angular acceleration, velocity, acceleration.
In some embodiments, as shown in fig. 10, the crane boom monitoring system 100 further comprises: the man-machine interaction part 11 is configured to display at least one of detection information of the diagonal movement detection part 9, working condition information of the crane, attitude information of the arm support 1 and the lifting hook 2, preset thresholds thereof 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 man-machine interaction part 11.
The information is displayed in the man-machine interaction part 11, so that an operator knows the working state of the crane in real time, and can adjust and operate in time when potential safety hazards occur, and the working safety of the crane arm support is improved.
Further, the crane control system 200 includes: the crane comprises a crane main control device 20, a moment limiter 21 and an on-board display unit 22, wherein the crane main control device 20 is electrically connected with the moment limiter 21 and the on-board display unit 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 diagram of a display interface of the man-machine interaction component 11 in the crane boom monitoring system 100 according to the present disclosure. The display interface may display crane operating condition information, such as: rated crane weight, actual crane weight, moment percentage, working amplitude, arm head height, wind speed and the like; attitude information of the boom 1 and the hook 2 may also be displayed, for example: the maximum side bending amount is allowed, the maximum deflection amount is allowed, the whole side bending amount of the arm support, the whole 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 posture information of the arm support 1 and the lifting hook 2 is close to or exceeds a preset threshold value, an adjustment mode can be also indicated, for example, when the integral lateral bending amount of the arm support is close to the allowable maximum lateral bending amount, the indication of larger lateral bending amount to the right side and the suggestion of adjusting the inter-arm sliding block are made. In addition, the functions of sensor port inquiry and historical data inquiry can be provided.
Finally, the present disclosure provides a crane comprising the crane boom monitoring apparatus 10 of the above embodiment, or the crane boom monitoring system 100.
The method, the device and the system for monitoring the crane boom and the crane provided by the disclosure are described in detail. Specific examples are set forth herein to illustrate the principles and embodiments of the present disclosure, and the above examples are merely intended to aid in understanding the methods of the present disclosure and the core ideas thereof. It should be noted that it would be apparent to those skilled in the art that various improvements and modifications could be made to the present disclosure without departing from the principles of the present disclosure, and such improvements and modifications would be within the scope of the claims of the present disclosure.
Claims (15)
1. The crane boom monitoring method is characterized by comprising the following steps of:
receiving the angles, the angular speeds and the 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;
according to the angles, angular velocities and angular accelerations of the arm support head in three directions and the working condition information of the crane, calculating the attitude information of the arm support and the lifting hook in the operation process of the crane;
wherein, the three directions include: the arm support comprises a first direction, a second direction and a third direction, wherein the second direction is consistent with the extension direction of the arm support, 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;
the working condition information comprises arm support length, arm support telescopic length, working time, acting force of a lifting winch on a pull rope, actual lifting weight, rope outlet length of the lifting winch, arm support working amplitude and arm support rotation angle, and the gesture information of the arm support and the lifting hook comprises: the side bending amount of the arm support, the deflection amount of the arm support, the transverse swing amplitude of the lifting hook and the longitudinal swing amplitude of the lifting hook; the crane boom monitoring method further comprises the following steps:
and when any one of the side bending amount of the arm support, the deflection amount of the arm support, the transverse swing amplitude of the lifting hook and the longitudinal swing amplitude of the lifting hook exceeds a corresponding preset threshold value, alarming and prompting are carried out.
2. The crane boom monitoring method according to claim 1, wherein the angular motion detection means comprises a three-axis gyroscope provided at the boom 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 operating condition information of the crane comprises:
calculating 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 angle, the angular speed and the angular acceleration of the arm support head in the three directions, the arm support length and the working time information.
4. The crane boom monitoring method according to claim 3, wherein the step of calculating the attitude information of the boom further comprises:
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, the side bending amount and the deflection amount of the arm support due to telescopic action and the side bending amount and the deflection amount of the arm support due to lifting operation are calculated respectively;
superposing the side bending amounts respectively generated by the telescopic action and the lifting action of the arm support to obtain the actual side bending amount of the arm support;
and superposing deflection amounts generated by the telescopic action and the lifting action of the arm support respectively to obtain the actual deflection amount of the arm support.
5. The crane boom monitoring method according to claim 3, wherein the step of calculating the attitude information of the boom during the telescopic boom movement 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 side bending amount 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 telescopic length of the arm support and the angle value of the arm support head in the first direction.
6. The crane boom monitoring method according to claim 3, wherein the step of calculating the attitude information of the boom in the crane operation process 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 side bending amount of the arm support according to the displacement of the arm support head in the three directions, the acting force of the lifting winch on the pull rope, the actual lifting weight 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 acting force of the lifting winch on the pull rope, the actual lifting 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 a hook in a crane operation process according to angles, angular velocities and angular accelerations of the boom head in three directions and operating condition information of the crane comprises:
calculating the transverse swing amplitude of the lifting hook according to the angles and the angular speeds of the arm support head in three directions, the rope outlet length of the lifting winch, the arm support working amplitude, the arm support rotation angle and the working time;
and calculating the longitudinal swing amplitude of the lifting hook according to the angles and the angular speeds of the arm support head in three directions, the rope outlet length of the lifting winch, the arm support working amplitude and the working time.
8. The crane boom monitoring method according to any one of claims 1 to 7, further comprising: and displaying at least one of detection information of the angular motion detection component, working condition information of the crane, attitude information of the arm support and the lifting hook, a preset threshold value of the attitude information and monitoring prompt information in real time.
9. The crane boom monitoring method according to any one of claims 1 to 7, further comprising:
and when the gesture information of the arm support and the lifting hook exceeds the corresponding preset threshold values, the arm support is decelerated, and the action towards the dangerous direction is stopped.
10. The crane boom monitoring method according to any one of claims 1 to 7, further comprising, for a boom having a superlift device:
when the posture information of the arm support and the lifting hook exceeds the respective preset threshold values, at least one of the expansion 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 is adjusted.
11. The crane boom monitoring method according to any one of claims 1 to 7, further comprising, for a boom having a super lift device:
when the arm support bends sideways towards the first side and the sideways bending amount exceeds a corresponding preset threshold value, at least one of the following actions is executed: increasing the unfolding angle of the super-lifting support, shortening the length of the second side super-lifting steel wire rope and increasing the tension of the second side super-lifting steel wire rope;
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.
12. The crane boom monitoring method according to any one of claims 1 to 7, further comprising, for a boom having a super lift device:
when the arm support is deformed in a down-warping mode and the deflection exceeds a corresponding preset threshold value, executing at least one of the following actions: the unfolding angle of the super-lifting support is reduced, the lengths of the super-lifting steel wire ropes at the left side and the right side are shortened, and the tension of the super-lifting steel wire ropes at the left side and the right side is increased; or (b)
When the arm support is deformed in a flexing way and the deflection exceeds a corresponding preset threshold value, executing at least one of the following actions: the unfolding angle of the super-lifting support is increased, the lengths of the super-lifting steel wire ropes at the left side and the right side are increased, and the tension of the super-lifting steel wire ropes at the left side and the right side is reduced.
13. A crane boom monitoring device, characterized by being used for executing the crane boom monitoring method according to any one of claims 1 to 12.
14. A crane boom monitoring system, comprising:
the angular motion detection component is arranged at the arm support head of the crane and is configured to acquire the angles, the angular speeds and the angular accelerations of the arm support head in three directions; and
the crane boom monitoring device of claim 13.
15. A crane comprising the crane boom monitoring device of claim 13 or the crane boom monitoring system of claim 14.
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