CN113307165A - Regional anti-collision system and method for rotating arm support equipment - Google Patents
Regional anti-collision system and method for rotating arm support equipment Download PDFInfo
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- CN113307165A CN113307165A CN202110473061.XA CN202110473061A CN113307165A CN 113307165 A CN113307165 A CN 113307165A CN 202110473061 A CN202110473061 A CN 202110473061A CN 113307165 A CN113307165 A CN 113307165A
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- arm support
- preset value
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/94—Safety gear for limiting slewing movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses an area anti-collision system and method of a rotating arm support device, wherein the area anti-collision system of the rotating arm support device comprises an arm support, a supporting mechanism and a rotating mechanism, the lower end of the supporting mechanism is fixedly arranged on the ground, the upper end of the supporting mechanism is rotatably connected with the arm support through the rotating mechanism, the area anti-collision system also comprises a rotary encoder, an angle encoder, an audible and visual alarm, a PLC (programmable logic controller) and a display, the rotary encoder is arranged on the rotating mechanism, the angle encoder is fixedly arranged on the arm support, and the rotary encoder, the angle encoder, the audible and visual alarm and the display are simultaneously and electrically connected with the PLC; the method has the advantages of simple interface, convenience in operation, high practicability and the like.
Description
Technical Field
The invention relates to the field of anti-collision of arm support equipment, in particular to a regional anti-collision system and method for rotating arm support equipment.
Background
At present, arm support type rotating equipment is widely applied in China, a plurality of similar equipment are required to be constructed in different areas simultaneously in a plurality of working sites, and the amplitude of the arm support type rotating equipment can be changed, so that the equipment can be damaged and even the tipping danger can be caused if the arm support type rotating equipment collides.
Therefore, the invention provides an area anti-collision system and method for rotating arm support equipment, which demarcate a safety area and a collision area for equipment operation by demarcating an actual field angle and carrying out internal logic processing, thereby ensuring that the equipment is constructed in a safe operation range.
Disclosure of Invention
The invention aims to solve the technical problem that a plurality of boom type rotating devices are constructed simultaneously in a construction site, and the devices are easy to damage or even tip over due to collision, so that the invention provides an area anti-collision system and method of the rotating boom type devices, wherein the area anti-collision system of the rotating boom type devices comprises the following steps:
the lower end of the supporting mechanism is fixedly installed on the ground, the upper end of the supporting mechanism is connected with the arm support in a rotating mode, the arm support further comprises a rotary encoder, an angle encoder, an audible and visual alarm, a PLC (programmable logic controller) and a display, the rotary encoder is installed on the rotary mechanism, the angle encoder is fixedly installed on the arm support, and the rotary encoder, the angle encoder, the audible and visual alarm and the display are simultaneously electrically connected with the PLC.
Further, the rotary encoder is coaxially connected with the rotary mechanism.
The arm support is characterized by further comprising a transmission mechanism, the transmission mechanism is used for connecting the rotary mechanism and the arm support, and the rotary encoder is arranged on a rotary gear ring of the transmission mechanism.
Further, the display is used for sending command information to the PLC controller.
Further, the PLC controller is configured to receive command information sent by the display, compare the command information with the rotation angle information acquired by the rotation encoder and the boom luffing angle information acquired by the angle encoder, and generate a control command, and send the control command to the rotation mechanism and the boom to control the rotation mechanism, the audible and visual alarm, and the boom.
Furthermore, a pump pressure sensor and a variable amplitude pump start/fall electromagnetic valve are further installed on the arm support, a rotary left/right electromagnetic valve is further installed on the rotary mechanism, the variable amplitude pump start/fall electromagnetic valve and the rotary left/right electromagnetic valve are simultaneously and electrically connected with a PWM (pulse width modulation) interface of the PLC, and the angle encoder, the rotary encoder and the pump pressure sensor are simultaneously and electrically connected with an AI (artificial intelligence) interface of the PLC.
Furthermore, the audible and visual alarm is electrically connected with a DO interface of the PLC, and the display is electrically connected with a DI interface of the PLC.
In another aspect, the present invention further provides an area anti-collision method for a rotating gantry apparatus, which is used in the above-mentioned area anti-collision system for a rotating gantry apparatus, and the area anti-collision method for a rotating gantry apparatus includes:
setting a left-turning maximum angle as a preset value A, setting a right-turning maximum angle as a preset value B, setting an arm support amplitude maximum angle as a preset value C, setting an arm support amplitude minimum angle as a preset value D, and storing the preset value A, the preset value B, the preset value C and the preset value D through a PLC (programmable logic controller);
collecting a rotation angle as a rotation angle E through a rotation encoder, sending the rotation angle E to a PLC (programmable logic controller), collecting an arm support angle as an arm support angle F through an angle encoder, and sending the arm support angle F to the PLC;
receiving a rotation angle E and an arm support angle F through a PLC;
judging whether the rotation angle E is smaller than or equal to a preset value A and the rotation angle E is larger than or equal to a preset value B or not through a PLC (programmable logic controller), if so, controlling the arm support to stop rotating and controlling an audible and visual alarm to perform alarming action, and if not, normally performing rotating action by the arm support;
and judging whether the angle F of the arm support is smaller than or equal to a preset value D and the angle F of the arm support is larger than or equal to a preset value C or not through the PLC, if so, controlling the arm support to stop the angle change action and simultaneously controlling an audible and visual alarm to give an alarm, and if not, normally carrying out the angle change action by the arm support.
The implementation of the invention has the following beneficial effects:
1. the invention provides an area anti-collision system of a rotary arm support device, which is characterized in that a safety area and a collision area of device operation are defined by calibrating an actual field angle and carrying out internal logic processing, so that the device is ensured to be constructed in a safe operation range, a display interface is simple, the operation is convenient, and the practicability is high.
Drawings
FIG. 1 is a logical I/O block diagram of the system of the present invention;
FIG. 2 is a logical control topology of the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1-2 of the specification, the technical problem to be solved in this embodiment is to provide an area anti-collision system and method for a rotating arm support type device, where multiple arm support type rotating devices are simultaneously constructed in a construction site, and the devices are easily damaged or even tilted due to collision, and the area anti-collision system for the rotating arm support type device includes:
the device comprises an arm support, a supporting mechanism and a slewing mechanism, wherein the lower end of the supporting mechanism is fixedly arranged on the ground, and the upper end of the supporting mechanism is rotatably connected with the arm support through the slewing mechanism; the rotary encoder is coaxially connected with the rotary mechanism.
The display is used for sending command information to the PLC controller.
The PLC is used for receiving command information sent by the display, comparing the command information with the rotation angle information collected by the rotation encoder and the boom amplitude variation angle information collected by the angle encoder respectively, and generating a control command.
The arm support is also provided with a pump pressure sensor and a variable amplitude pump start/fall electromagnetic valve, the swing mechanism is also provided with a rotation left/right electromagnetic valve, the variable amplitude pump start/fall electromagnetic valve and the rotation left/right electromagnetic valve are simultaneously and electrically connected with a PWM interface of the PLC, and the angle encoder, the rotation encoder and the pump pressure sensor are simultaneously and electrically connected with an AI interface of the PLC.
The audible and visual alarm is electrically connected with a DO interface of the PLC, and the display is electrically connected with a DI interface of the PLC.
On the other hand, the present embodiment further provides an area anti-collision method for a rotating gantry apparatus, which is used in the above area anti-collision system for a rotating gantry apparatus, where the area anti-collision method for a rotating gantry apparatus includes:
setting a left-turning maximum angle as a preset value A, setting a right-turning maximum angle as a preset value B, setting an arm support amplitude maximum angle as a preset value C, setting an arm support amplitude minimum angle as a preset value D, and storing the preset value A, the preset value B, the preset value C and the preset value D through a PLC (programmable logic controller);
collecting a rotation angle as a rotation angle E through a rotation encoder, sending the rotation angle E to a PLC (programmable logic controller), collecting an arm support angle as an arm support angle F through an angle encoder, and sending the arm support angle F to the PLC;
receiving a rotation angle E and an arm support angle F through a PLC;
judging whether the rotation angle E is smaller than or equal to a preset value A and the rotation angle E is larger than or equal to a preset value B or not through a PLC (programmable logic controller), if so, controlling the arm support to stop rotating and controlling an audible and visual alarm to perform alarming action, and if not, normally performing rotating action by the arm support;
and judging whether the angle F of the arm support is smaller than or equal to a preset value D and the angle F of the arm support is larger than or equal to a preset value C or not through the PLC, if so, controlling the arm support to stop the angle change action and simultaneously controlling an audible and visual alarm to give an alarm, and if not, normally carrying out the angle change action by the arm support.
Examples
Referring to fig. 1-2 of the specification, the technical problem to be solved in this embodiment is to provide an area anti-collision system and method for a rotating arm support type device, where multiple arm support type rotating devices are simultaneously constructed in a construction site, and the devices are easily damaged or even tilted due to collision, and the area anti-collision system for the rotating arm support type device includes:
the lower end of the supporting mechanism is fixedly installed on the ground, the upper end of the supporting mechanism is rotatably connected with the arm support through the rotating mechanism, the arm support further comprises a rotary encoder, an angle encoder, an audible and visual alarm, a PLC (programmable logic controller) and a display, the rotary encoder is installed on the rotating mechanism, the angle encoder is fixedly installed on the arm support, and the rotary encoder, the angle encoder, the audible and visual alarm and the display are simultaneously electrically connected with the PLC.
The device also comprises a transmission mechanism, wherein the transmission mechanism is used for connecting the rotary mechanism and the arm support, the rotary encoder is arranged on a rotary gear ring of the transmission mechanism, and the rotary encoder acquires the rotary angle in real time through speed ratio conversion.
The display is used for sending command information to the PLC controller.
The PLC is used for receiving command information sent by the display, comparing the command information with the rotation angle information collected by the rotation encoder and the boom amplitude variation angle information collected by the angle encoder respectively, and generating a control command.
The arm support is also provided with a pump pressure sensor and a variable amplitude pump start/fall electromagnetic valve, the swing mechanism is also provided with a rotation left/right electromagnetic valve, the variable amplitude pump start/fall electromagnetic valve and the rotation left/right electromagnetic valve are simultaneously and electrically connected with a PWM interface of the PLC, and the angle encoder, the rotation encoder and the pump pressure sensor are simultaneously and electrically connected with an AI interface of the PLC.
The audible and visual alarm is electrically connected with a DO interface of the PLC, and the display is electrically connected with a DI interface of the PLC.
On the other hand, the present embodiment further provides an area anti-collision method for a rotating gantry apparatus, which is used in the above area anti-collision system for a rotating gantry apparatus, where the area anti-collision method for a rotating gantry apparatus includes:
setting a left-turning maximum angle as a preset value A, setting a right-turning maximum angle as a preset value B, setting an arm support amplitude maximum angle as a preset value C, setting an arm support amplitude minimum angle as a preset value D, and storing the preset value A, the preset value B, the preset value C and the preset value D through a PLC (programmable logic controller);
collecting a rotation angle as a rotation angle E through a rotation encoder, sending the rotation angle E to a PLC (programmable logic controller), collecting an arm support angle as an arm support angle F through an angle encoder, and sending the arm support angle F to the PLC;
receiving a rotation angle E and an arm support angle F through a PLC;
judging whether the rotation angle E is smaller than or equal to a preset value A and the rotation angle E is larger than or equal to a preset value B or not through a PLC (programmable logic controller), if so, controlling the arm support to stop rotating and controlling an audible and visual alarm to perform alarming action, and if not, normally performing rotating action by the arm support;
and judging whether the angle F of the arm support is smaller than or equal to a preset value D and the angle F of the arm support is larger than or equal to a preset value C or not through the PLC, if so, controlling the arm support to stop the angle change action and simultaneously controlling an audible and visual alarm to give an alarm, and if not, normally carrying out the angle change action by the arm support.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a regional anticollision system of swinging boom class equipment, includes cantilever crane, supporting mechanism and rotation mechanism, supporting mechanism's lower extreme fixed mounting is subaerial, and the upper end passes through rotation mechanism with the cantilever crane rotates to be connected, its characterized in that still includes rotary encoder, angle encoder, audible-visual annunciator, PLC controller and display, rotary encoder installs rotation mechanism is last, angle encoder fixed mounting be in on the cantilever crane, rotary encoder angle encoder audible-visual annunciator with the display simultaneously with the PLC controller electricity is connected.
2. The zone anti-collision system for a rotating gantry type apparatus as claimed in claim 1, wherein the rotary encoder is coaxially connected to the rotary mechanism.
3. The zone anti-collision system for rotating gantry type devices according to claim 1, further comprising a transmission mechanism for connecting the swing mechanism and the boom, wherein the swing encoder is mounted on a swing gear ring of the transmission mechanism.
4. An area collision avoidance system for a rotating gantry type apparatus according to any of claims 2 or 3, wherein said display is adapted to send command information to said PLC controller.
5. The regional anti-collision system for rotating booms equipment as claimed in claim 4, wherein the PLC is configured to receive command information sent by the display, compare the command information with the rotation angle information collected by the rotation encoder and the boom luffing angle information collected by the angle encoder, and generate a control command, and send the control command to the rotation mechanism and the boom to control the rotation mechanism, the audible and visual alarm, and the boom.
6. The regional anti-collision system for rotating boom-like devices according to claim 5, wherein said boom is further equipped with a pump pressure sensor and a luffing pump start/stop solenoid valve, said slewing mechanism is further equipped with a slewing left/right solenoid valve, said luffing pump start/stop solenoid valve and said slewing left/right solenoid valve are simultaneously electrically connected to a PWM interface of said PLC controller, and said angle encoder, said slewing encoder and said pump pressure sensor are simultaneously electrically connected to an AI interface of said PLC controller.
7. The system for zone collision avoidance for a rotating gantry like device of claim 6, wherein said audible and visual alarm is electrically connected to a DO interface of said PLC controller and said display is electrically connected to a DI interface of said PLC controller.
8. A zone collision avoidance method for a rotating gantry type apparatus, for use in a zone collision avoidance system for a rotating gantry type apparatus as claimed in any one of claims 1 to 7, comprising:
setting a left-turning maximum angle as a preset value A, setting a right-turning maximum angle as a preset value B, setting an arm support amplitude maximum angle as a preset value C, setting an arm support amplitude minimum angle as a preset value D, and storing the preset value A, the preset value B, the preset value C and the preset value D through a PLC (programmable logic controller);
collecting a rotation angle as a rotation angle E through a rotation encoder, sending the rotation angle E to a PLC (programmable logic controller), collecting an arm support angle as an arm support angle F through an angle encoder, and sending the arm support angle F to the PLC;
receiving a rotation angle E and an arm support angle F through a PLC;
judging whether the rotation angle E is smaller than or equal to a preset value A and the rotation angle E is larger than or equal to a preset value B or not through a PLC (programmable logic controller), if so, controlling the arm support to stop rotating and controlling an audible and visual alarm to perform alarming action, and if not, normally performing rotating action by the arm support;
and judging whether the angle F of the arm support is smaller than or equal to a preset value D and the angle F of the arm support is larger than or equal to a preset value C or not through the PLC, if so, controlling the arm support to stop the angle change action and simultaneously controlling an audible and visual alarm to give an alarm, and if not, normally carrying out the angle change action by the arm support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110473061.XA CN113307165A (en) | 2021-04-29 | 2021-04-29 | Regional anti-collision system and method for rotating arm support equipment |
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| CN202110473061.XA CN113307165A (en) | 2021-04-29 | 2021-04-29 | Regional anti-collision system and method for rotating arm support equipment |
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| CN113307165A true CN113307165A (en) | 2021-08-27 |
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| CN202110473061.XA Pending CN113307165A (en) | 2021-04-29 | 2021-04-29 | Regional anti-collision system and method for rotating arm support equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117023477A (en) * | 2023-10-10 | 2023-11-10 | 临工重机股份有限公司 | Rotary table rotation centering limiting system and control method thereof |
-
2021
- 2021-04-29 CN CN202110473061.XA patent/CN113307165A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117023477A (en) * | 2023-10-10 | 2023-11-10 | 临工重机股份有限公司 | Rotary table rotation centering limiting system and control method thereof |
| CN117023477B (en) * | 2023-10-10 | 2024-03-01 | 临工重机股份有限公司 | Rotary table rotation centering limiting system and control method thereof |
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