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 PDF

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Publication number
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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angle
boom
preset value
plc controller
encoder
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高剑钊
张瑞峰
马天驰
李文锋
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Nantong Rainbow Heavy Machineries Co Ltd
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Nantong Rainbow Heavy Machineries Co Ltd
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Priority to CN202110473061.XA priority Critical patent/CN113307165A/en
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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
    • 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

本发明公开了一种旋转臂架类设备的区域防碰撞系统及方法，所述旋转臂架类设备的区域防碰撞系统包括臂架、支撑机构和回转机构，所述支撑机构的下端固定安装在地面上，上端通过所述回转机构与所述臂架转动连接，还包括回转编码器、角度编码器、声光报警器、PLC控制器和显示器，所述回转编码器安装在所述回转机构上，所述角度编码器固定安装在所述臂架上，所述回转编码器、所述角度编码器、所述声光报警器和所述显示器同时与所述PLC控制器电连接；具有界面简单，操作方便，实用性强等优点。

Figure 202110473061

The invention discloses an area anti-collision system and method for rotating boom equipment. The area anti-collision system for rotating boom equipment includes a boom, a support mechanism and a slewing mechanism. The lower end of the support mechanism is fixedly installed on the On the ground, the upper end is rotatably connected to the boom through the slewing mechanism, and also includes a rotary encoder, an angle encoder, a sound and light alarm, a PLC controller and a display, and the rotary encoder is installed on the slewing mechanism , the angle encoder is fixedly installed on the arm frame, the rotary encoder, the angle encoder, the sound and light alarm and the display are electrically connected to the PLC controller at the same time; it has a simple interface , convenient operation, strong practicability and so on.

Figure 202110473061

Description

Regional anti-collision system and method for rotating arm support equipment
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)

1.一种旋转臂架类设备的区域防碰撞系统，包括臂架、支撑机构和回转机构，所述支撑机构的下端固定安装在地面上，上端通过所述回转机构与所述臂架转动连接，其特征在于，还包括回转编码器、角度编码器、声光报警器、PLC控制器和显示器，所述回转编码器安装在所述回转机构上，所述角度编码器固定安装在所述臂架上，所述回转编码器、所述角度编码器、所述声光报警器和所述显示器同时与所述PLC控制器电连接。1. A regional anti-collision system for rotating boom equipment, comprising a boom, a support mechanism and a slewing mechanism, the lower end of the support mechanism is fixedly installed on the ground, and the upper end is rotatably connected to the boom through the slewing mechanism , which is characterized in that it also includes a rotary encoder, an angle encoder, a sound and light alarm, a PLC controller and a display, the rotary encoder is mounted on the rotary mechanism, and the angle encoder is fixedly mounted on the arm On the rack, the rotary encoder, the angle encoder, the sound and light alarm and the display are electrically connected to the PLC controller at the same time. 2.根据权利要求1所述的旋转臂架类设备的区域防碰撞系统，其特征在于，所述回转编码器与所述回转机构同轴连接。2 . The area anti-collision system for rotating boom equipment according to claim 1 , wherein the rotary encoder is coaxially connected to the rotary mechanism. 3 . 3.根据权利要求1所述的旋转臂架类设备的区域防碰撞系统，其特征在于，还包括传动机构，所述传动机构用于连接所述回转机构和所述臂架，所述回转编码器安装在所述传动机构的回转齿轮圈上。3 . The area collision avoidance system for rotating boom equipment according to claim 1 , further comprising a transmission mechanism, the transmission mechanism is used to connect the rotation mechanism and the boom, and the rotation code The gear is mounted on the rotary gear ring of the transmission mechanism. 4.根据权利要求2或3任意一项所述的旋转臂架类设备的区域防碰撞系统，其特征在于，所述显示器用于向所述PLC控制器发送命令信息。4 . The area collision avoidance system for rotating boom equipment according to claim 2 , wherein the display is used to send command information to the PLC controller. 5 . 5.根据权利要求4所述的旋转臂架类设备的区域防碰撞系统，其特征在于，所述PLC控制器用于接收所述显示器发送的命令信息，将命令信息分别与所述回转编码器采集到的回转角信息和所述角度编码器采集到的臂架变幅角度信息进行比对，生成控制命令，所述PLC控制器还用于将控制命令发送至所述回转机构和所述臂架，对所述回转机构、所述声光报警器和所述臂架进行控制。5. The area anti-collision system for rotating boom equipment according to claim 4, wherein the PLC controller is used to receive command information sent by the display, and collect the command information with the rotary encoder respectively. The obtained slewing angle information is compared with the boom luffing angle information collected by the angle encoder to generate a control command, and the PLC controller is also used to send the control command to the slewing mechanism and the boom. , to control the slewing mechanism, the sound and light alarm and the boom. 6.根据权利要求5所述的旋转臂架类设备的区域防碰撞系统，其特征在于，所述臂架上还安装有泵压力传感器和变幅泵起/落电磁阀，所述回转机构上还安装有回转左/右电磁阀,所述变幅泵起/落电磁阀和所述回转左/右电磁阀同时与所述PLC控制器的PWM接口电连接，所述角度编码器、所述回转编码器和所述泵压力传感器同时与所述PLC控制器的AI接口电连接。6 . The regional anti-collision system for rotating jib equipment according to claim 5 , wherein a pump pressure sensor and a luffing pump up/down solenoid valve are also installed on the jib, and the slewing mechanism A rotary left/right solenoid valve is also installed, the luffing pump up/down solenoid valve and the rotary left/right solenoid valve are electrically connected with the PWM interface of the PLC controller, the angle encoder, the The rotary encoder and the pump pressure sensor are electrically connected to the AI interface of the PLC controller at the same time. 7.根据权利要求6所述的旋转臂架类设备的区域防碰撞系统，其特征在于，所述声光报警器和所述PLC控制器的DO接口电连接，所述显示器与所述PLC控制器的DI接口电连接。7. The regional anti-collision system for rotating boom equipment according to claim 6, wherein the sound and light alarm is electrically connected with the DO interface of the PLC controller, and the display is controlled by the PLC The DI interface of the device is electrically connected. 8.一种旋转臂架类设备的区域防碰撞方法，用于如权利要求1-7任意一项所述的旋转臂架类设备的区域防碰撞系统，其特征在于，包括：8. A regional anti-collision method for swivel-jib-type equipment, which is used for the regional anti-collision system of swivel-jib-type equipment as claimed in any one of claims 1-7, characterized in that, comprising: 通过显示器设置左回转最大角为预设值A，设置右回转最大角为预设值B，设置臂架变幅最大角为预设值C，设置臂架变幅最小角为预设值D，通过PLC控制器存储预设值A、预设值B、预设值C和预设值D；Through the display, set the maximum left rotation angle as the preset value A, set the maximum right rotation angle as the preset value B, set the maximum boom luffing angle as the preset value C, and set the boom luffing minimum angle as the preset value D. Store preset value A, preset value B, preset value C and preset value D through the PLC controller; 通过回转编码器采集回转角度为回转角度E，将回转角度E发送至PLC控制器，通过角度编码器采集臂架角度为臂架角度F,将臂架角度F发送至PLC控制器；Collect the rotation angle through the rotary encoder as the rotation angle E, send the rotation angle E to the PLC controller, collect the boom angle through the angle encoder as the boom angle F, and send the boom angle F to the PLC controller; 通过PLC控制器接收回转角度E和臂架角度F；Receive the rotation angle E and the boom angle F through the PLC controller; 通过PLC控制器判断回转角度E小于等于预设值A和回转角E大于等于预设值B是否满足任意一项，若是，则通过PLC控制器控制臂架停止回转动作同时控制声光报警器进行报警动作，若否，则臂架正常进行回转动作；It is judged by the PLC controller whether the rotation angle E is less than or equal to the preset value A and the rotation angle E is greater than or equal to the preset value B. Alarm action, if not, the boom rotates normally; 通过PLC控制器判断臂架角度F小于等于预设值D和臂架角度F大于等于预设值C是否满足任意一项，若是，则通过PLC控制器控制臂架停止角度变化动作同时控制声光报警器进行报警动作，若否，则臂架正常进行角度变化动作。It is judged by the PLC controller whether the boom angle F is less than or equal to the preset value D and the boom angle F is greater than or equal to the preset value C. The alarm will alarm, if not, the boom will change the angle normally.
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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

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