CN113860170A - Safety control system and method for pipe crane - Google Patents
Safety control system and method for pipe crane Download PDFInfo
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- CN113860170A CN113860170A CN202111023801.6A CN202111023801A CN113860170A CN 113860170 A CN113860170 A CN 113860170A CN 202111023801 A CN202111023801 A CN 202111023801A CN 113860170 A CN113860170 A CN 113860170A
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- 230000005484 gravity Effects 0.000 claims description 30
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 238000010276 construction Methods 0.000 description 12
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
- B66C23/90—Devices for indicating or limiting lifting moment
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Abstract
The invention discloses a safety control system and a method for a pipe crane, which comprises the following steps: the pin shaft sensor is connected with the hook fixed pulley block and used for reading the weight of the hoisted object; the arm support inclination angle sensor is arranged on the main arm and used for reading the inclination angle of the arm support; the whole machine inclination angle sensor is arranged on the bottom plate of the control room, is positioned at the geometric center of the chassis and is used for reading the left and right inclination angles of the pipe crane; the hoisting mechanism with the encoding function is arranged on the balance weight side platform and can calculate the lengths of the rope outlet and the rope take-up through a program; the display and control system is arranged on a control panel in front of the control room, is electrically connected with the pin shaft sensor, the arm support tilt angle sensor, the whole machine tilt angle sensor and the hoisting mechanism with the encoding function, receives and displays data fed back by each sensor and the hoisting mechanism with the encoding function, and performs operation and execution operation according to the fed-back data. The invention solves the problems of insufficient monitoring function, poor controllability and incapability of quantitatively displaying key parameters in the prior art.
Description
Technical Field
The invention relates to a safety control system and method for a pipe crane, and belongs to the technical field of pipeline construction equipment.
Background
In the peak period of national pipe network construction, huge opportunities are brought to people, and meanwhile, huge challenges are brought to people, especially the pipeline construction efficiency in marsh and wetland areas is much worse than that in plain areas, the ground of a marsh wetland is muddy and slippery, the working condition is very complex, the pipeline construction difficulty is high, the pipeline operation is difficult to realize in the wetland pipeline construction, and the construction efficiency is extremely low. Many pipeline constructions are all in wetland areas, the efficiency can not be greatly improved, and the completion of national pipe network construction targets is seriously influenced, so that the development of a special pipe crane suitable for wetland operation is very necessary, and particularly in the wetland hoisting construction, the monitoring and displaying of parameters such as the inclination degree, the gravity center position, the ground pressure and the like of the pipe crane at any time are very important, so that the operation safety of the pipe crane for the wetland is greatly improved.
The existing pipe crane only has a simple moment limiter system and a display system, and can display and limit the lifting capacity, the lifting amplitude, the arm support angle and the arm length on the basis of a solid flat ground. For the lifting construction of the wetland, the monitoring function is insufficient, the controllability is poor, a plurality of key parameters cannot be quantitatively displayed, and construction safety accidents are easily caused. The wetland is generally muddy and soft, has no monitoring and limiting function for the lifting working condition of the wetland, and cannot provide a safe and reliable construction solution for users.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide a safety control system and a safety control method for a pipe crane, and solves the problems that in the prior art, the monitoring function is insufficient, the controllability is poor, and the key parameters cannot be quantitatively displayed.
In order to achieve the above object, the present invention adopts the following technical solutions:
a pipelayer safety control system, comprising:
the pin shaft sensor is connected with the hook fixed pulley block and used for reading the weight F of the hung heavy object;
the arm support inclination angle sensor is arranged on the main arm and used for reading an arm support inclination angle alpha 1;
the whole machine inclination angle sensor is arranged on a control room bottom plate and is positioned at the geometric center of the chassis and used for reading the left and right inclination angles beta of the pipe crane;
the hoisting mechanism with the encoding function is arranged on the balance weight side platform and can calculate the lengths of the rope outlet and the rope take-up through a program;
the display and control system is arranged on a control panel in front of the control room, is electrically connected with the pin shaft sensor, the arm support tilt angle sensor, the whole machine tilt angle sensor and the hoisting mechanism with the encoding function, receives and displays data fed back by each sensor and the hoisting mechanism with the encoding function, and performs operation and execution operation according to the fed-back data.
A safety control method for a pipe hoist comprises the following specific steps:
the display and the control system receive and store various data measured by the pipe crane on the horizontal ground;
the display and control system receives data fed back by each sensor and the lifting mechanism with the coding function in a working state in real time;
the display and the control system execute relevant calculation and display results based on the data, and assist in judging whether the state of the whole crane is suitable for hoisting operation before hoisting;
and the display and the control system control the action of the pipe crane in the lifting state based on the calculation result.
Furthermore, the data measured by the pipe crane on the horizontal ground include:
a, the length of a main arm;
alpha, the included angle between the main arm and the horizontal ground;
x, the horizontal distance between the hinge point of the main arm and the tipping point Q is;
y, the vertical distance between the hinge point of the main arm and the ground is;
xo, the horizontal distance between the gravity center of the whole machine and a tipping point Q during no-load;
yo, the vertical distance between the gravity center of the whole machine and the ground when the whole machine is in no-load;
l, the central distance between the left crawler frame and the right crawler frame;
go, overall weight at no load;
c, the grounding length of the crawler belt;
and B, the width of the track shoe.
Further, the data fed back by the sensors and the hoisting mechanism with the encoding function comprises:
the weight F of the suspended load fed back by the pin shaft sensor;
the boom inclination angle alpha 1 is fed back by the boom inclination angle sensor;
the left and right inclination angles beta of the pipe crane fed back by the complete machine inclination angle sensor;
the lifting or descending height H4 fed back by the lifting mechanism with the encoding function;
further, the step of performing the related calculation and displaying the result, and assisting in judging whether the state of the whole vehicle before hoisting is suitable for the hoisting operation comprises:
the following calculations are performed: l2 ═ x cos β (Xo-Yo x tan β),
H2＝Yo/cosβ+(Xo-Yo×tanβ)×sinβ，
L1＝(A×sinα1)+x/cosβ+(y-x×tanβ)×sinβ，
G＝Go+F，
L3＝(Go×L2-F×L1)/G，
H3＝(Go×H2+F×H4)/G，
X1＝(H3×tanβ+L3)×cosβ，
Y1＝(H3-L3×tanβ)×cosβ，
P1＝[G×cosβ-(G×cosβ)×X1/L]/B/C，
p2 ═ [ (gxcos β) × X1/L ]/B/C, where L1 is the horizontal distance from the gravity center of the weight to the tipping point Q at no-load, L2 is the horizontal distance from the gravity center of the complete weight to the tipping point Q at no-load, H2 is the vertical distance from the gravity center of the complete weight to the tipping point Q at no-load, L3 is the horizontal distance from the gravity center of the complete weight to the tipping point Q at no-load, H3 is the vertical distance from the gravity center of the complete weight to the tipping point Q after lifting the weight, X1 is the distance from the gravity center of the complete weight to the tipping point Q along the slope after lifting the weight, Y1 is the vertical distance from the slope of the gravity center of the complete weight to the plane after lifting the weight, G is the weight after lifting the weight, P1 is the ground pressure of the crawler at the boom side, and P2 is the ground pressure of the crawler at the counterweight side;
displaying the parameters on a display and control system (4);
and based on the conditions of the whole vehicle before hoisting and the ground bearing capacity displayed by L1, L2, P1 and P2, the auxiliary judgment is carried out to judge whether the hoisting operation is suitable or not in the state.
Further, the process of controlling the pipe hoist to operate in the hoisting state is as follows:
if beta is less than or equal to beta 1 and L3 is more than or equal to L/5, the pipe crane is controlled to continue to act, otherwise, the hoisting operation of the pipe crane is automatically limited, wherein beta 1 is a preset safety angle.
A pipe hoist is provided, and the safety control method of the pipe hoist is applied to any one of the above methods.
The invention achieves the following beneficial effects:
1. and the hoisting process parameters are calculated and displayed in real time, so that an operator can conveniently check and make a judgment.
2. The display parameters are diversified, and the operator can conveniently execute more detailed operation.
2. The hoisting operation of the pipe crane can be automatically limited based on the calculation result, so that the pipe crane is more convenient and safer to use.
Drawings
FIG. 1 is a diagram illustrating the operation of the present invention on a horizontal ground;
fig. 2 is a working state diagram of the invention in a wetland environment.
The meaning of the reference symbols in the figures: 1-a pin sensor; 2-an arm support inclination angle sensor; 3-complete machine tilt angle sensor; 4-display and control system; 5-lifting mechanism with coding function.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The embodiment discloses a safety control system and a method for a pipe crane, and as shown in fig. 1, the device mainly comprises a pin shaft sensor 1, an arm support tilt sensor 2, a complete machine tilt sensor 3, a display and control system 4 and a hoisting mechanism 5 with an encoding function.
The lifting mechanism 5 with the coding function is arranged on a balance weight side platform, the lifting mechanism 5 with the coding function can calculate the lengths of a rope and a receiving rope through a program, a display and control system 4 is arranged on a control panel in front of the control cabin, the sensors and the lifting mechanism 5 with the coding function are electrically connected, and data measured by the sensors and data calculated by the lifting mechanism 5 with the coding function are received and displayed.
The pipe crane is arranged on the horizontal ground, the length of a main arm is A, the included angle between the main arm and the horizontal ground is alpha, the horizontal distance between a hinge point of the main arm and a tipping point Q is x, the vertical distance between the hinge point of the main arm and the ground is y, the horizontal distance Xo between the gravity center of the whole machine and the tipping point Q during no-load is Yo, the center distance L between a left crawler frame and a right crawler frame is L, the weight of the whole machine during no-load is Go, the grounding length of a crawler of the wetland pipe crane is C, and the width of a crawler plate is B. The data obtained by the direct measurement is input into a display and control system 4.
When the pipe crane is used for hoisting in a wet land, the main machine is inclined towards the boom side, as shown in fig. 2. At this time, the inclination angle can be read by the complete machine inclination angle sensor 3 to be β, the boom inclination angle sensor 2 reads the boom inclination angle α 1, the weight F is read from the pin sensor 1, the horizontal distance between the gravity center of the weight and the tipping point Q during idling is L1, the horizontal distance between the gravity center of the complete machine and the tipping point Q during idling is L2, and α is α 1+ β. The weight center of gravity is at a vertical distance H1 from the tipping point Q when empty, and H1 is generally the radius of the pipeline, i.e., H1 is D/2, where D is the diameter of the pipeline. When the vehicle is unloaded, the vertical distance between the gravity center of the whole vehicle and the tipping point Q is H2. After the heavy object is lifted, the horizontal distance between the gravity center of the whole machine weighted object and a tipping point Q is L3, the vertical distance between the gravity center of the whole machine weighted object and the tipping point Q is H3, the distance between the gravity center of the whole machine weighted object and the tipping point Q along a slope surface is X1, the vertical distance between the gravity center of the whole machine weighted object and the slope surface is Y1, and the weight of the whole machine weighted object after the heavy object is lifted is G. The lifting or lowering height H4 is calculated by the lifting mechanism 5 with the coding function.
Given Go, Xo, Yo, a, x, y, L, B, C, the tilt angle β of the whole crane can be directly read by the tilt angle sensor 3, the tilt angle α 1 of the boom can be directly read by the boom tilt angle sensor 2, the weight F of the suspended weight can be directly read by the pin sensor 1, and the distance Q from the suspended weight to the tipping point H4 can be calculated by the hoisting mechanism 5 with the encoding function. H1 is illustrated as the initial value of H4, which is used to calculate H4 for the following calculation formulas. Solving L1, L2, L3, H2, H3, X1, Y1, G, L3, H3, suspension arm side track grounding specific pressure P1 and balance weight side track grounding specific pressure P2, and displaying the parameters of L1, L2, L3, H2, H3, X1, Y1, G, L3, H3, P1 and P2 on the display and the control system 4 through a control program.
Calculating the formula:
(1)L2＝(Xo-Yo×tanβ)×cosβ；
(2)H2＝Yo/cosβ+(Xo-Yo×tanβ)×sinβ
(3)L1＝(A×sinα1)+x/cosβ+(y-x×tanβ)×sinβ
(4)G＝Go+F
(5)L3＝(Go×L2-F×L1)/G
(6)H3＝(Go×H2+F×H4)/G
(7)X1＝(H3×tanβ+L3)×cosβ
(8)Y1＝(H3-L3×tanβ)×cosβ
(9)P1＝[G×cosβ-(G×cosβ)×X1/L]/B/C
(10)P2＝[(G×cosβ)×X1/L]/B/C
l2 and H2 are position coordinates of a gravity center point of the whole crane relative to a tipping line when the crane is unloaded, P1 and P2 are ground pressure ratios of the left track and the right track, and the information can provide the state before the crane of the whole crane is lifted and the ground bearing capacity condition, so that a driver is helped to judge whether the crane is suitable for hoisting operation in the state; l3 and H3 are coordinate positions of a gravity center point of the whole crane relative to a tipping line when the heavy object is lifted, L1 is an actual distance from the lifted heavy object to the tipping line, P1 and P2 are ground contact specific pressures of a left crawler and a right crawler when the heavy object is lifted, all parameters can change from time to time as the ground is soft and the inclination angle of the whole crane changes continuously in the lifting process, beta is set to be less than or equal to beta 1 (beta 1 is a preset safety angle) in order to ensure lifting safety, L3 is greater than or equal to L/5 in the lifting process, any limiting condition is not met in the lifting process, and the pipe crane can automatically limit lifting operation.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A pipelayer safety control system, comprising:
the pin shaft sensor (1) is connected with the hook fixed pulley block and used for reading the weight F of a hung heavy object;
the arm support inclination angle sensor (2) is arranged on the main arm and used for reading the inclination angle alpha 1 of the arm support;
the whole machine inclination angle sensor (3) is arranged on a control room bottom plate and is positioned at the geometric center of the chassis and used for reading the left and right inclination angles beta of the pipe crane;
the hoisting mechanism (5) with the encoding function is arranged on the balance weight side platform and can calculate the lengths of the outgoing rope and the receiving rope through a program;
and the display and control system (4) is arranged on an operation panel in front of the control room, is electrically connected with the pin shaft sensor (1), the arm support tilt angle sensor (2), the whole tilt angle sensor (3) and the lifting mechanism (5) with the encoding function, receives and displays data fed back by each sensor and the lifting mechanism (5) with the encoding function, and performs operation and execution operation according to the fed-back data.
2. A safety control method for a pipe hoist is characterized by comprising the following specific steps:
the display and control system (4) receives and stores various data measured by the pipe crane on the horizontal ground;
the display and control system (4) receives data fed back by each sensor and the lifting mechanism (5) with the coding function in real time under the working state;
the display and control system (4) executes related calculation and displays results based on the data, and assists in judging whether the state of the whole vehicle is suitable for hoisting operation before hoisting;
the display and control system (4) controls the operation of the pipe hoist in the hoisting state based on the calculation result.
3. The method of claim 2, wherein the data measured by the pipe hoist on a horizontal ground comprises:
a, the length of a main arm;
alpha, the included angle between the main arm and the horizontal ground;
x, the horizontal distance between the hinge point of the main arm and the tipping point Q is;
y, the vertical distance between the hinge point of the main arm and the ground is;
xo, the horizontal distance between the gravity center of the whole machine and a tipping point Q during no-load;
yo, the vertical distance between the gravity center of the whole machine and the ground when the whole machine is in no-load;
l, the central distance between the left crawler frame and the right crawler frame;
go, overall weight at no load;
c, the grounding length of the crawler belt;
and B, the width of the track shoe.
4. The safety control method of the pipe crane according to claim 3, wherein the data fed back by the sensors and the hoisting mechanism (5) with the coding function comprises:
the weight F of the suspended load fed back by the pin shaft sensor (1);
the boom inclination angle alpha 1 is fed back by the boom inclination angle sensor (2);
the left and right inclination angles beta of the pipe crane fed back by the complete machine inclination angle sensor (3);
and the lifting or descending height H4 fed back by the lifting mechanism (5) with the encoding function.
5. The method as claimed in claim 4, wherein the step of performing correlation calculation and displaying the result to assist in determining whether the state of the entire crane before hoisting is suitable for hoisting operation comprises:
the following calculations are performed: l2= (Xo-Yo × tan β) × cos β,
H2=Yo/cosβ+(Xo-Yo×tanβ)×sinβ，
L1=(A×sinα1)+x/cosβ+(y-x×tanβ)×sinβ，
G=Go+F，
L3=（Go×L2-F×L1）/G，
H3=（Go×H2+F×H4）/G，
X1=（H3×tanβ+L3）×cosβ，
Y1=（H3-L3×tanβ）×cosβ，
P1=[G×cosβ-（G×cosβ）×X1/L]/B/C，
p2= [ (G × cos β) × X1/L ]/B/C, wherein L1 is the horizontal distance from the gravity center of the weight to the tipping point Q when no load exists, L2 is the horizontal distance from the gravity center of the complete machine to the tipping point Q when no load exists, H2 is the vertical distance from the gravity center of the complete machine to the tipping point Q when no load exists, L3 is the horizontal distance from the gravity center of the complete machine weighted object to the tipping point Q when no load exists, H3 is the vertical distance from the gravity center of the complete machine weighted object to the tipping point Q after the weight is lifted, X1 is the distance from the gravity center of the complete machine weighted object to the tipping point Q along the slope surface after the weight is lifted, Y1 is the vertical distance from the slope surface of the gravity center of the complete machine weighted object after the weight is lifted, G is the weight of the complete machine weighted object after the weight is lifted, P1 is the ground pressure of the crawler at the boom side, and P2 is the ground pressure of the crawler at the side of the balancer side;
displaying the parameters on a display and control system (4);
and based on the conditions of the whole vehicle before hoisting and the ground bearing capacity displayed by L1, L2, P1 and P2, the auxiliary judgment is carried out to judge whether the hoisting operation is suitable or not in the state.
6. The method as claimed in claim 5, wherein the operation of the pipe hoist in the lifting state is controlled as follows:
if beta is less than or equal to beta 1 and L3 is more than or equal to L/5, the pipe crane is controlled to continue to act, otherwise, the hoisting operation of the pipe crane is automatically limited, wherein beta 1 is a preset safety angle.
7. A pipe hoist applying a safety control method of a pipe hoist according to any one of claims 2 to 6.
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| CN202111023801.6A CN113860170A (en) | 2021-09-02 | 2021-09-02 | Safety control system and method for pipe crane |
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| CN202400736U (en) * | 2011-11-04 | 2012-08-29 | 三一重工股份有限公司 | Detector for tipping state of crane |
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| CN209322356U (en) * | 2018-10-08 | 2019-08-30 | 福建省启航起重设备有限公司 | A kind of crane truck of anti-rollover |
| CN209455992U (en) * | 2019-01-14 | 2019-10-01 | 郑州大学 | A kind of safety monitoring device for preventing cantilever crane loop wheel machine from toppling |
| CN112573396A (en) * | 2019-09-27 | 2021-03-30 | 卡特彼勒公司 | Lifting capacity system for a hoisting machine |
-
2021
- 2021-09-02 CN CN202111023801.6A patent/CN113860170A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05278994A (en) * | 1991-10-02 | 1993-10-26 | Jlg Ind Inc | Load moment indicator system |
| CN2516521Y (en) * | 2002-01-04 | 2002-10-16 | 泰安市泰山工程机械制造有限公司 | Wet land pipe crane |
| CN102596790A (en) * | 2009-10-08 | 2012-07-18 | 卡特彼勒公司 | Lightweight high-performance pipelayer |
| CN102464270A (en) * | 2010-11-11 | 2012-05-23 | 徐州重型机械有限公司 | Overturning-preventing torque limiter and movable crane |
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