CN114604736A - Tower crane and automatic loosening method of tower crane hook - Google Patents
Tower crane and automatic loosening method of tower crane hook Download PDFInfo
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- CN114604736A CN114604736A CN202210077035.XA CN202210077035A CN114604736A CN 114604736 A CN114604736 A CN 114604736A CN 202210077035 A CN202210077035 A CN 202210077035A CN 114604736 A CN114604736 A CN 114604736A
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/28—Duplicate, e.g. pivoted, members engaging the loads from two sides
- B66C1/30—Duplicate, e.g. pivoted, members engaging the loads from two sides and also arranged to grip the sides of the loads
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
- B66C23/18—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 specially adapted for use in particular purposes
- B66C23/26—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 specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention is suitable for the technical field of grabbing and provides an automatic loosening method for a tower crane and a tower crane hook. This tower crane includes the tower body, rotates the rocking arm of locating the top of tower body and connects in the couple of the tip of rocking arm with liftable, and the couple includes bearing mechanism and the clamping jaw that is used for snatching the material, and bearing mechanism includes two telescopic links, and the tip of each telescopic link all is connected with the bearing board that is used for the bearing material, and the clamping jaw is located between two telescopic links with liftable, and the relative bearing mechanism rotation of clamping jaw ability. The invention provides a tower crane and an automatic loosening method of a tower crane hook, which can control a bearing mechanism to release a bearing state when the tower crane hook hoists materials to a target placing surface, so that a clamping jaw can convey the materials to the target placing surface; and, can adjust the angle of putting of material to when the clamping jaw unclamped, the material can be placed on the target placing surface with required angle of putting, has improved the work efficiency of tower crane.
Description
Technical Field
The invention belongs to the technical field of grabbing, and particularly relates to an automatic loosening method for a tower crane and a tower crane hook.
Background
The tower crane, also called tower crane, is the most common hoisting equipment in construction sites or large cargo transportation places, and the effect of the tower crane is mainly to hoist materials, and the materials can be horizontally transported or vertically transported. The materials lifted by the lifting device comprise steel bars, wood ridges, concrete, steel pipes or containers and the like.
When large-scale materials such as cement pipe, container are snatched to tower crane commonly used now, the couple of tower crane directly grabs the both sides of material and carries out the handling, and the bottom of material is unsettled state this moment, appears easily because of the material volume great, weight is great and directly slides down from the couple, has serious potential safety hazard. Even there is a small amount of tower crane couple to have the supporting mechanism that can support the material, but these supporting mechanisms can't be automatic and blowing accurately behind the handling material, can only adjust through artifical manual and make supporting mechanism relieve its bearing state, again with the material from the couple lift the back artifical and put, its work efficiency is very low.
Disclosure of Invention
The invention aims to provide a tower crane and an automatic loosening method of a tower crane hook, and aims to solve the technical problem that in the process of lifting materials, a tower crane hook in the prior art is low in discharging efficiency.
In order to solve the technical problem, the invention provides a tower crane, which adopts the following technical scheme:
this tower crane is located including the tower body and rotation the rocking arm on the top of tower body still include liftable connect in the couple of the tip of rocking arm, the couple includes bearing mechanism and the clamping jaw that is used for snatching the material, bearing mechanism includes two telescopic links, each the tip of telescopic link all is connected with and is used for the bearing board of material, two are located to the clamping jaw liftable between the telescopic link, just the clamping jaw can be relative bearing mechanism rotates.
Optionally, the tower crane hook still includes:
the first control module is used for controlling the lifting of the hook;
the second control module is used for adjusting the distance between the two telescopic rods and the length of each telescopic rod;
the third control module is used for controlling the lifting, rotating, taking and placing of the clamping jaw;
the first distance sensing module is used for detecting whether the distance between the bearing plate and the target placing surface is a first distance or a second distance;
the second distance sensing module is used for detecting whether one end surface of the material in the length direction faces the target placing surface or not and whether a part of the end surface is in contact with the target placing surface or not;
the angle sensing module is used for detecting the difference value between the rotation angle of the clamping jaw and a preset angle;
the first control module is arranged on the rotating arm, the first control module is arranged on the telescopic rod, and the third control module, the first distance sensing module, the second distance sensor and the angle sensing module are all arranged on the clamping jaw.
In order to solve the technical problem, the invention also provides an automatic loosening method of the tower crane hook, which is applied to the tower crane hook and comprises the following steps:
the first control module controls the hook which grabs the material to descend so that a first distance is formed between the bearing plate and the target placing surface;
when a first distance between the bearing plate and the target placing surface is detected by the first distance sensing module, the length of two telescopic rods and the distance between the two telescopic rods are adjusted by the second control module, so that the clamping jaws and the materials grabbed by the clamping jaws can extend out of the bearing mechanism, and a second distance is formed between the bearing plate and the target placing surface, wherein the first distance is larger than the second distance;
when the first distance sensing module detects that the second distance exists between the bearing plate and the target placing surface, the angle sensing module detects the difference value between the rotation angle of the clamping jaw and a preset angle, and the third control module controls the clamping jaw to rotate according to the difference value so that the rotation angle of the clamping jaw is consistent with the preset angle;
when the angle sensing module detects that the rotation angle of the clamping jaw is consistent with the preset angle, the third control module controls the material to incline to the preset inclination angle in the length direction so that one end face of the material in the length direction faces the target placing face;
when a second distance sensing module detects that one end face of the material in the length direction faces the target placing face, the third control module enables the clamping jaw to descend so that part of the end face of the material is in contact with the target placing face;
when the contact between partial end face of the material and the target placing face is detected through the second distance sensing module, the third control module controls the inclination angle of the material to be gradually increased in the length direction, so that the material can be vertically placed on the target placing face;
and enabling the clamping jaw to loosen the material through the third control module.
Optionally, the step of controlling the hook with the material grabbed to descend through the first control module so that a first distance is formed between the bearing plate and the target placing surface specifically includes:
controlling, by the first control module, the hook to descend at a first speed such that the support plate descends at the first speed to the first spacing between the support plate and the target placing surface.
Optionally, when the first distance sensing module detects that a first distance exists between the bearing plate and the target placing surface, the length of the two telescopic rods and the distance between the two telescopic rods are adjusted by the second control module, so that the clamping jaw and the material grabbed by the clamping jaw can extend out of the bearing mechanism, and the step of providing a second distance between the bearing plate and the target placing surface specifically includes:
the length of the two telescopic rods is adjusted through the second control module, so that a second distance is formed between the bearing plate and the target placing surface, and a gap is formed between the bearing plate and the bottom of the material, wherein the gap is the difference value between the first distance and the second distance;
the distance between the two telescopic rods is adjusted through a second control module, so that the clamping jaw which grabs the material can extend out of the supporting mechanism from the position between the two supporting plates.
Optionally, when the first distance sensing module detects that the supporting plate and the target placing surface have a second distance therebetween, the angle sensing module detects a difference between a rotation angle of the clamping jaw and a preset angle, and the third control module controls the clamping jaw to rotate according to the difference, so that the step of making the rotation angle of the clamping jaw consistent with the preset angle specifically includes:
the third control module controls the clamping jaw to descend so that the clamping jaw and the material clamped by the clamping jaw extend out of the bearing mechanism, and a gap is formed between the bottom of the material and the target placing surface;
and controlling the clamping jaw to rotate through a third control module so that the rotation angle of the material is consistent with the preset angle.
Optionally, through third control module control the clamping jaw descends, so that the clamping jaw and what the clamping jaw snatched the material stretches out outside the bearing mechanism, just the bottom of material with it specifically includes to have gapped step between the target placing surface:
and the third control module controls the clamping jaw to descend at a second speed, so that the clamping jaw and the material grabbed by the clamping jaw extend out of the bearing mechanism at the second speed, wherein the second speed is less than the first speed.
Optionally, when the angle sensing module detects that the rotation angle of the clamping jaw is consistent with the preset angle, the third control module controls the material to incline to the preset inclination angle in the length direction, so that one end surface of the material in the length direction faces the target placing surface:
the range of the preset inclination angle is as follows: the angle A is more than or equal to 30 degrees and more than or equal to 60 degrees, wherein the angle A is a preset inclination angle.
Optionally, when the second distance sensing module detects that one end surface of the material in the length direction faces the target placing surface, the third control module lowers the clamping jaw to make a part of the end surface of the material contact the target placing surface specifically includes:
and controlling the clamping jaws to descend at a third speed through a third control module so that part of the end face of the material is in contact with the target placing surface, wherein the third speed is lower than the first speed.
Optionally, when the second distance sensing module detects that a part of the end surface of the material is in contact with the target placing surface, the third control module controls the material to gradually increase the inclination angle in the length direction, so that the material can be vertically placed on the target placing surface specifically includes:
and controlling the material to gradually increase the inclination angle in the length direction at a preset rotating speed through the third control module so as to gradually increase the area of one end face of the material contacting the target placing face until the material can be vertically placed on the target placing face.
Optionally, after the step of releasing the material by the third control module, the method further comprises:
and controlling the clamping jaw to ascend to the first initial position through the third control module.
Optionally, after the step of releasing the material by the third control module, the method further comprises:
and controlling the hook to rise back to a second initial position through the first control module.
Compared with the prior art, the invention mainly has the following beneficial effects:
according to the tower crane and the automatic loosening method of the tower crane hook, when the tower crane hook hoists materials to a target placing surface, the bearing state of the bearing mechanism can be relieved by controlling the bearing mechanism according to the distance between the two bearing plates and the target placing surface, so that the clamping jaws can convey the materials to the target placing surface, the bearing state of the bearing mechanism is not required to be relieved manually, and the working efficiency of the tower crane is improved; and, place the material to the in-process that the target placed the face at the clamping jaw, can adjust the angle of putting of material to when the clamping jaw unclamped, the material can be placed on the target placed face with required angle of putting, need not again the manual work and put, further improved the work efficiency of tower crane.
Drawings
FIG. 1 is a schematic structural diagram of a hook of a tower crane provided by an embodiment of the invention;
FIG. 2 is a schematic diagram illustrating a loosening process of a hook of a tower crane provided by the embodiment of the invention;
FIG. 3 is a flow chart of an automatic loosening method of a tower crane hook provided by the embodiment of the invention.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; the terms "including" and "having," and any variations thereof in the description and claims of the invention and in the description of the foregoing figures, are intended to cover a non-exclusive inclusion. The terms "first," "second," and the like in the description and in the claims, or in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
As shown in fig. 1 to 3, the method for automatically loosening a tower crane hook provided by the embodiment of the invention is provided. The embodiment of the invention can be applied to the hook 200 of the tower crane so as to control the hook 200 of the tower crane to hoist the material 1 (such as building materials such as cement pipes and steel pipes or containers). The loosening method comprises the following steps:
step S20, the hook 200 grasping the material 1 is controlled by the first control module to descend so that the support plate 222 and the target placing surface have a first distance therebetween.
The specific value of the first distance may be determined according to the height of the clamping jaw 210 and the height of the material 1. In particular, the first pitch is intended to: after the clamping jaw 210 for grabbing the material 1 extends out of the supporting mechanism 220, a distance is reserved between the bottom of the material 1 and the target placing surface 2, so that the clamping jaw 210 can grab the material 1 to form a space for next operation.
As shown in fig. 2 (a) to (c), when the hook 200 moves to a position where the supporting plate 222 is spaced from the target placement surface 2 by a first distance, the material 1 is still in the supporting mechanism 220, i.e., the two supporting plates 222 also support the material 1. When step S30 is completed, the two support plates 222 are released from supporting the material 1, and the holding jaws 210 for holding the material 1 are provided with the condition of extending out of the supporting mechanism 220.
Step S30, when the first distance sensing module detects that the supporting plate 222 and the target placing surface 2 have a first distance therebetween, the second control module adjusts the lengths of the two extension rods 221 and the distance between the two extension rods 222, so that the clamping jaw 210 and the material 1 grabbed by the clamping jaw 210 can extend out of the supporting mechanism 220, and a second distance is formed between the supporting plate 222 and the target placing surface 2, wherein the first distance is greater than the second distance.
Step S40, when the first distance sensing module detects that the supporting plate 222 and the target placing surface 2 have the second distance therebetween, the angle sensing module detects a difference between the rotation angle of the clamping jaw 210 and the preset angle, and the third control module controls the clamping jaw 210 to rotate according to the difference, so that the rotation angle of the clamping jaw 210 is consistent with the preset angle.
Step S50, when the rotation angle of the clamping jaw 210 is detected to be consistent with the preset angle & lt A through the angle sensing module, the material 1 is controlled to incline to the preset angle in the length direction through the third control module, so that one end face of the material 1 in the length direction faces the target placing face 2.
In step S60, when the second distance sensing module detects that one end surface of the material 1 in the length direction faces the target placing surface 2, the third control module lowers the clamping jaw 210 so that part of the end surface of the material 1 contacts the target placing surface 2.
Step S70, when the second distance sensing module detects that part of the end face of the material 1 is in contact with the target placing face 2, the third control module controls the material 1 to gradually increase the inclination angle in the length direction so as to enable the material 1 to be vertically placed on the target placing face 2
Regarding the steps S30 to S70, after the clamping jaw 210 extends out of the supporting mechanism 220, the clamping jaw 210 may need to be controlled to rotate, so as to adjust the posture of the material 1 according to the requirement. Therefore, after the holding jaw 210 holding the material 1 extends out of the supporting mechanism 220, a slight distance between the material 1 and the target placement surface 2 is required to provide a rotation space for the holding jaw 210 holding the material 1, and the distance is the difference between the first distance and the second distance. Afterwards, make material 1 slope on length direction and predetermine the inclination to for material 1 can vertically place and provide the condition on target placing surface 2, and after partial tip of material 1 and target placing surface 2 contact, make this terminal surface of material 1 progressively be close to until contacting target placing surface 2, in order to prevent that material 1 from receiving too big impact because of directly placing on target placing surface 2, leading to the drawback of material 1 damaged.
Specifically, as shown in fig. 2 (d) to (f), after the hook 200 is moved to a position having a second distance between the supporting plate 222 and the target placing surface 2, the placing posture of the material 1 can be adjusted according to the actual situation, so as to avoid the need of manual placing.
And step S80, enabling the clamping jaws to release the materials through the third control module.
After the step 80 is executed, the automatic release of the material 1 is completed, namely, the automatic release process of the hook 200 of the tower crane after the material 1 is lifted is realized.
Compared with the prior art, the loosening method provided by the embodiment of the invention mainly has the following beneficial effects:
according to the loosening method, when the tower crane hook 200 hoists the material 1 to the target placing surface 2, the bearing mechanism 220 can be controlled to release the bearing state according to the distance between the two bearing plates 222 and the target placing surface 2, so that the clamping jaw 210 can convey the material 1 to the target placing surface 2, the bearing state of the bearing mechanism 220 does not need to be manually released, and the working efficiency of the tower crane is improved; and, place material 1 to the in-process that the face 2 was placed to the target at clamping jaw 210, can adjust the angle of putting of material 1 to when clamping jaw 210 loosened, material 1 can place on the face 2 is placed to the target with required angle of putting, need not again artifical the putting, further improved the work efficiency of tower crane.
In some optional implementations of this embodiment, before the step of controlling, by the first control module, the hook 200 that has grabbed the material 1 to descend so as to have the first distance between the support plate 222 and the target placing surface 2, that is, before the step 20, the method further includes:
step S10, the first control module controls the hook 200 to move to the position right above the target placing surface 2.
After the hook 200 of the tower crane grabs the material 1 at the material taking position, the hook 200 is controlled to move to the position right above the target placing surface 2 through the first control module, so that the hook 200 can hoist the material 1 to the target placing surface 2 in a descending mode.
In some optional implementations of this embodiment, as shown in fig. 2 (a), the step of controlling the hook 200 having grabbed the material 1 to descend by the first control module so as to make the bearing plate 222 and the target placing surface 2 have a first distance therebetween, that is, the step S20 specifically includes:
the lowering of the hook 200 at the first speed is controlled by said first control module so that the support plate 222 is lowered at the first speed to have a first spacing between the support plate 222 and the target placing surface 2.
Since the material 1 is already positioned right above the target placement surface 2 after the step S10 is performed, the first control module may directly lower the hook 200 (i.e., synchronously lower the holding jaw 210 and the supporting mechanism 220) in step S20. And controls the hook 200 to stop the lowering action to provide an operation space for the above-described step S30 when the hook 200 is lowered to the position having the first distance between the support plate 222 and the target placing surface 2.
Since the hook 200 for lifting the material 1 in step S20 can move from a position higher directly above the target placing surface 2 to a position close to the target placing surface 2 with a long moving stroke, the first speed is relatively large, and the first speed may be in the range of 1-3 m/S.
In some optional implementations of this embodiment, as shown in fig. 2 (b) and (c), when the first distance sensing module detects that the supporting plate 222 has the first distance from the target placing surface 2, the second control module adjusts the lengths of the two telescopic rods 221 and the distance between the two telescopic rods 221 so that the clamping jaw 210 and the material 1 gripped by the clamping jaw 210 can extend out of the supporting mechanism 220, and the step of having the second distance between the supporting plate 222 and the target placing surface 2, that is, the step S30 specifically includes:
step S31, adjusting the lengths of the two telescopic rods 221 through the second control module to make a second distance between the supporting plate 222 and the target placing surface 2, so as to make a gap between the supporting plate 22 and the bottom of the material 1, where the gap is a difference between the first distance and the second distance.
Before the two support plates 222 are respectively removed from the two sides of the material 1, the contact relationship between the support plates 222 and the bottom of the material 1 needs to be released. At this time, step S31 is executed to extend the two extension rods 221, so that a second distance is provided between the support plate 222 and the bottom of the material 1, which can effectively prevent the wear of the bottom of the material 1 and the surface of the support plate 222 contacting the material 1 caused by the two support plates 222 moving out from the two sides of the material 1 when the support plate 222 and the bottom of the material 1 are still in a contact state.
And S32, adjusting the distance between the two telescopic rods through a second control module so that the clamping jaw which grabs the material can extend out of the supporting mechanism from the position between the two supporting plates.
After step S31 is executed, although both the support plates 222 are not in contact with the bottom of the material 1, the two support plates 222 are still in a supporting posture, and at this time, the clamping jaw 210 that has grabbed the material 1 is lowered, and the material 1 is also supported by the two support plates 222 and cannot be placed on the target placement surface 2. At this time, step S32 is executed to increase the distance between the two extension rods 221, and the distance between the two extension rods can be provided for the clamping jaws 210 that grab the material 1 to smoothly pass through between the two support plates 222.
In some optional implementations of this embodiment, as shown in fig. 2 (d) to (e), when the first distance sensing module detects that the support plate and the target placement surface have the second distance therebetween, the angle sensing module detects a difference between a rotation angle of the clamping jaw and a preset angle, and the third control module controls the clamping jaw to rotate according to the difference, so that the rotation angle of the clamping jaw is consistent with the preset angle, that is, step S40 specifically includes:
and S41, controlling the clamping jaw to descend through the third control module, so that the clamping jaw and the material grabbed by the clamping jaw extend out of the bearing mechanism, and a gap is reserved between the bottom of the material and the target placing surface.
Due to the possible need to adjust the placing angle of the material 1 on the target placing surface 2 and the need to place the material 1 on the target placing surface 2. Therefore, it is necessary to lower the holding jaws 210 holding the material 1 to extend out of the supporting mechanism 220, so as to prevent the holding jaws 210 from being interfered by the supporting mechanism when adjusting the placing angle of the material 1, and to enable the material 1 to be placed on the target placing surface 2.
And step S42, controlling the clamping jaw to rotate through a third control module, so that the rotation angle of the material is consistent with the preset angle.
After the clamping jaw 210 which grabs the material 1 extends out of the supporting mechanism 220, the swinging angle of the material 1 can be adjusted according to the placing requirement of the material or the placing condition on the site, so that after the clamping jaw 210 loosens the material 1, the material 1 can be placed on the target placing surface 2 in a required posture without being placed again through manual work.
In some optional implementations of this embodiment, the step of controlling the clamping jaw 210 to descend by the third control module so that the clamping jaw 210 and the material 1 gripped by the clamping jaw 210 extend out of the supporting mechanism 220, and a gap is formed between the bottom of the material 1 and the target placing surface 2, that is, the step S41 specifically includes:
the third control module controls the clamping jaw 210 to descend at a second speed, so that the clamping jaw 210 and the material 1 grabbed by the clamping jaw 210 extend out of the bearing mechanism 220 at the second speed, wherein the second speed is lower than the first speed.
Since the material gripped by the gripping jaws 210 is lowered to move the material 1 within the first interval for a short distance, the second speed may be a slower speed to facilitate the short-distance lifting of the gripping jaws 210. The second speed may be in the range of 0.1-0.3 m/s.
In some optional implementation manners of the embodiment, when the rotation angle of the clamping jaw 210 is detected to be consistent with the preset angle ≈ a by the angle sensing module, the third control module controls the material 1 to be inclined in the length direction to the preset angle, so that one end surface of the material 1 in the length direction faces the target placing surface 2, that is, in step S50:
the range of the preset inclination angle may be: the angle A is more than or equal to 30 degrees and less than or equal to 60 degrees,
wherein the angle A is a preset inclination angle.
In some optional implementations of this embodiment, when the second distance sensing module detects that one end surface of the material 1 in the length direction faces the target placing surface 2, the step of lowering the clamping jaw 210 by the third control module so as to contact part of the end surface of the material 1 with the target placing surface 2, that is, the step S60 specifically includes:
the jaws 210 are controlled by the third control module to be lowered at a third speed, which is lower than the first speed, so that part of the end surface of the material 1 is brought into contact with the target placing surface 2.
Since the material gripped by the clamping jaw 210 is moved downwards to move the material 1 within the first distance, the third speed may be a slower speed, so as to facilitate the short-distance lifting of the clamping jaw 210. The third speed may be in the range of 0.1-0.3 m/s.
In some optional implementations of this embodiment, when the second distance sensing module detects that a part of the end surface of the material 1 is in contact with the target placing surface 2, the third control module controls the inclination angle of the material 1 to be gradually increased in the length direction, so that the material 1 can be vertically placed on the target placing surface 2, that is, step S70 specifically includes:
the inclination angle of the material 1 is gradually increased in the length direction at a preset rotating speed through the third control module, so that the area of one end face of the material 1 contacting the target placing face 2 is gradually increased until the material 1 can be vertically placed on the target placing face 2.
This preset rotational speed can be a comparatively slow speed, and after the partial tip of material 1 placed the face 2 contact with the target, make this terminal surface of material 1 progressively be close to until contacting target and place face 2 to prevent that material 1 from receiving too big impact because of directly placing on target placed face 2, leading to the damaged drawback of material 1.
In some optional implementations of the present embodiment, after the step of controlling the clamping jaw 210 to release the material 1 by the third control module, that is, after step S80, the method further includes:
step S90, the clamping jaw 210 is controlled to lift back to the first initial position.
The first initial position is the position of the material 1 still in the supporting mechanism 220.
And step S100, controlling the hook 200 to return to the initial position.
The second initial position is a position where the hook 200 lifts the material 1 to a position directly above the target placement surface 2 and the hook 200 is not yet lowered. After returning the hook 200 to the second initial position, the next material 1 can be lifted.
In order to solve the above technical problem, an embodiment of the present invention further provides a tower crane, as shown in fig. 2, the tower crane includes a tower body (not shown in the drawings) and a rotating arm (not shown in the drawings) rotatably disposed at a top end of the tower body. In addition, the tower crane further comprises a hook 200 which is connected to the end of the rotating arm in a liftable manner, the hook 200 comprises a supporting mechanism 220 and a clamping jaw 210 used for grabbing the material 1, the supporting mechanism 220 comprises two telescopic rods 221, the end of each telescopic rod 221 can be connected with a supporting plate 222 used for supporting the material 1, the clamping jaw 210 can be arranged between the two telescopic rods 221, and the clamping jaw 210 can rotate relative to the supporting mechanism 220.
Compared with the prior art, the tower crane provided by the embodiment of the invention has the following main beneficial effects:
the tower crane is used for executing the loosening method, the bearing mechanism 220 can be controlled to release the bearing state according to the distance between the two bearing plates 222 and the target placing surface 2, so that the clamping jaws 210 can convey the material 1 onto the target placing surface 2, the bearing state of the bearing mechanism 220 does not need to be manually released, and the working efficiency of the tower crane is improved; and, place material 1 to the in-process that the face 2 was placed to the target at clamping jaw 210, can adjust the angle of putting of material 1 to when clamping jaw 210 loosened, material 1 can place on the face 2 is placed to the target with required angle of putting, need not again artifical the putting, further improved the work efficiency of tower crane.
In some optional implementations of the present embodiment, both of the support plates 222 may be provided with a first distance sensing module (not shown in the drawings) for detecting a distance between the support plate and the target placing surface, wherein the distance includes the first distance and the second distance.
In some optional implementation manners of this embodiment, the tower crane hook 200 further includes:
the first control module is used for controlling the lifting of the hook 200;
the second control module is used for adjusting the distance between the two telescopic rods 221 and the length of each telescopic rod 221;
the third control module is used for controlling the lifting, rotating and taking and placing of the clamping jaw 210;
a first distance sensing module, configured to detect whether a distance between the supporting plate 222 and the target placement surface 2 is a first distance or a second distance;
the angle sensing module is used for detecting the difference value between the rotation angle of the clamping jaw 210 and a preset angle;
the second distance sensing module is used for detecting whether one end surface of the material in the length direction faces the target placing surface or not and whether a part of the end surface is in contact with the target placing surface or not;
the first control module is disposed on the rotating arm, the first control module is disposed on the telescopic rod 221, and the third control module, the first distance sensing module, the second distance sensor and the angle sensing module are disposed on the clamping jaw 210.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention without limiting its scope. This invention may be embodied in many different forms and, on the contrary, these embodiments are provided so that this disclosure will be thorough and complete. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and modifications can be made, and equivalents may be substituted for elements thereof. All equivalent structures made by using the contents of the specification and the attached drawings of the invention can be directly or indirectly applied to other related technical fields, and are also within the protection scope of the patent of the invention.
Claims (12)
1. The utility model provides a tower crane, includes the tower body and rotates and locates the rocking arm on the top of tower body, its characterized in that still include liftable connect in the couple of the tip of rocking arm, the couple includes bearing mechanism and the clamping jaw that is used for snatching the material, bearing mechanism includes two telescopic links, each the tip of telescopic link all is connected with and is used for the bearing board of material, two are located to the clamping jaw liftable between the telescopic link, just the clamping jaw can be relative bearing mechanism rotates.
2. The tower crane hook of claim 1, further comprising:
the first control module is used for controlling the lifting of the hook;
the second control module is used for adjusting the distance between the two telescopic rods and the length of each telescopic rod;
the third control module is used for controlling the lifting, rotating, taking and placing of the clamping jaw;
the first distance sensing module is used for detecting whether the distance between the bearing plate and the target placing surface is a first distance or a second distance;
the angle sensing module is used for detecting the difference value between the rotation angle of the clamping jaw and a preset angle;
the second distance sensing module is used for detecting whether one end surface of the material in the length direction faces the target placing surface or not and whether a part of the end surface is in contact with the target placing surface or not;
the first control module is arranged on the rotating arm, the first control module is arranged on the telescopic rod, and the third control module, the first distance sensing module, the second distance sensor and the angle sensing module are all arranged on the clamping jaw.
3. An automatic loosening method for a tower crane hook, which is applied to the tower crane hook according to claim 2, and comprises the following steps:
the first control module controls the hook which grabs the material to descend so that a first distance is formed between the bearing plate and the target placing surface;
when a first distance between the bearing plate and the target placing surface is detected by the first distance sensing module, the length of two telescopic rods and the distance between the two telescopic rods are adjusted by the second control module, so that the clamping jaws and the materials grabbed by the clamping jaws can extend out of the bearing mechanism, and a second distance is formed between the bearing plate and the target placing surface, wherein the first distance is larger than the second distance;
when the first distance sensing module detects that the second distance exists between the bearing plate and the target placing surface, the angle sensing module detects the difference value between the rotation angle of the clamping jaw and a preset angle, and the third control module controls the clamping jaw to rotate according to the difference value so that the rotation angle of the clamping jaw is consistent with the preset angle;
when the angle sensing module detects that the rotation angle of the clamping jaw is consistent with the preset angle, the third control module controls the material to incline to the preset inclination angle in the length direction so that one end face of the material in the length direction faces the target placing face;
when a second distance sensing module detects that one end face of the material in the length direction faces the target placing face, the third control module enables the clamping jaw to descend so that part of the end face of the material is in contact with the target placing face;
when the contact between partial end face of the material and the target placing face is detected through the second distance sensing module, the third control module controls the inclination angle of the material to be gradually increased in the length direction, so that the material can be vertically placed on the target placing face;
and enabling the clamping jaw to loosen the material through the third control module.
4. A release method according to claim 3, wherein the step of controlling the lowering of the hook with the gripped material by the first control module so as to provide the first distance between the support plate and the target placement surface comprises:
controlling, by the first control module, the hook to descend at a first speed such that the support plate descends at the first speed to the first spacing between the support plate and the target placing surface.
5. The loosening method of claim 3, wherein when the first distance sensing module detects that the bearing plate is spaced apart from the target placement surface by a first distance, the second control module adjusts the lengths of the two extendable rods and the distance between the two extendable rods so that the clamping jaws and the material gripped by the clamping jaws can extend out of the supporting mechanism, and the step of spacing the bearing plate from the target placement surface by a second distance specifically comprises:
the length of the two telescopic rods is adjusted through the second control module, so that a second distance is formed between the bearing plate and the target placing surface, and a gap is formed between the bearing plate and the bottom of the material, wherein the gap is the difference value between the first distance and the second distance;
the distance between the two telescopic rods is adjusted through a second control module, so that the clamping jaw which grabs the material can extend out of the supporting mechanism from the position between the two supporting plates.
6. The method of loosening of claim 4, wherein the step of detecting a difference between the rotation angle of the clamping jaw and a predetermined angle by the angle sensing module when the first distance sensing module detects that the supporting plate has a second distance from the target placement surface, and the step of controlling the rotation of the clamping jaw by the third control module according to the difference so that the rotation angle of the clamping jaw is consistent with the predetermined angle specifically comprises:
the third control module controls the clamping jaw to descend so that the clamping jaw and the material clamped by the clamping jaw extend out of the supporting mechanism, and a gap is formed between the bottom of the material and the target placing surface;
and controlling the clamping jaw to rotate through a third control module so that the rotation angle of the material is consistent with the preset angle.
7. The method of claim 4, wherein the step of controlling the jaws by the third control module to lower such that the jaws and the material gripped by the jaws extend beyond the racking mechanism with clearance between the bottom of the material and the target placement surface comprises:
and the third control module controls the clamping jaw to descend at a second speed, so that the clamping jaw and the material grabbed by the clamping jaw extend out of the bearing mechanism at the second speed, wherein the second speed is less than the first speed.
8. A loosening method according to claim 1, wherein, when the rotation angle of the jaw detected by the angle sensing module coincides with the preset angle, the third control module controls the material to be inclined in the longitudinal direction to a preset inclination angle such that one end surface of the material in the longitudinal direction faces the target placement surface:
the range of the preset inclination angle is as follows: the angle A is more than or equal to 30 degrees and more than or equal to 60 degrees, wherein the angle A is a preset inclination angle.
9. A method according to claim 7, wherein the step of lowering the jaw by the third control module when the second distance sensing module detects that the end surface of the item in the length direction is facing the target placement surface, such that part of the end surface of the item is in contact with the target placement surface, comprises:
and controlling the clamping jaws to descend at a third speed through a third control module so that part of the end face of the material is in contact with the target placing surface, wherein the third speed is lower than the first speed.
10. The method of claim 9, wherein the step of controlling the material to gradually increase the inclination angle in the longitudinal direction by the third control module when the second distance sensing module detects that the partial end surface of the material is in contact with the target placing surface so that the material can be vertically placed on the target placing surface specifically comprises:
and controlling the material to gradually increase the inclination angle in the length direction at a preset rotating speed through the third control module so as to gradually increase the area of one end face of the material contacting the target placing face until the material can be vertically placed on the target placing face.
11. A method of unclamping according to claim 3, wherein after the step of unclamping the material with the jaw by the third control module, further comprising:
and controlling the clamping jaw to ascend to the first initial position through the third control module.
12. A method of unclamping according to claim 3, wherein after the step of unclamping the material with the jaw by the third control module, further comprising:
and controlling the hook to rise back to a second initial position through the first control module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210077035.XA CN114604736B (en) | 2022-01-24 | 2022-01-24 | Tower crane and automatic loosening method of tower crane hook |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210077035.XA CN114604736B (en) | 2022-01-24 | 2022-01-24 | Tower crane and automatic loosening method of tower crane hook |
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| CN114604736A true CN114604736A (en) | 2022-06-10 |
| CN114604736B CN114604736B (en) | 2023-06-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117775958A (en) * | 2024-02-28 | 2024-03-29 | 山东三矿地质勘查有限公司 | Stone lifting equipment for mining stone opening |
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| CN215101639U (en) * | 2021-02-22 | 2021-12-10 | 深圳大川自动化设备有限公司 | Equipment fixing drive mechanism for environmental protection engineering |
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| DE4330498A1 (en) * | 1993-09-09 | 1995-03-16 | Siegfried Schuster | Method and apparatus for the automatic displacement of bales by means of grippers |
| CN205740064U (en) * | 2016-07-10 | 2016-11-30 | 大连宝信起重技术有限公司 | A kind of for steel coil handling intellectuality clamp control equipment |
| CN107053153A (en) * | 2017-05-05 | 2017-08-18 | 智造未来（广东）科技有限公司 | Intelligent conveying robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117775958A (en) * | 2024-02-28 | 2024-03-29 | 山东三矿地质勘查有限公司 | Stone lifting equipment for mining stone opening |
| CN117775958B (en) * | 2024-02-28 | 2024-05-07 | 山东三矿地质勘查有限公司 | Stone lifting equipment for mining stone opening |
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| CN114604736B (en) | 2023-06-02 |
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