CN114604736B - 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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- CN114604736B CN114604736B CN202210077035.XA CN202210077035A CN114604736B CN 114604736 B CN114604736 B CN 114604736B CN 202210077035 A CN202210077035 A CN 202210077035A CN 114604736 B CN114604736 B CN 114604736B
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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 a tower crane and an automatic loosening method for a tower crane hook. The tower crane comprises a tower body, a rotating arm which is arranged at the top end of the tower body in a rotating mode and a hook which is connected to the end portion of the rotating arm in a lifting mode, wherein the hook comprises a supporting mechanism and clamping jaws which are used for grabbing materials, the supporting mechanism comprises two telescopic rods, the end portions of the telescopic rods are connected with supporting plates which are used for supporting the materials, the clamping jaws are arranged between the two telescopic rods in a lifting mode, and the clamping jaws can rotate relative to the supporting mechanism. According to the tower crane and the automatic loosening method of the tower crane hook, when the tower crane hook lifts materials to the target placing surface, the supporting mechanism is controlled to release the supporting state, so that the clamping jaw can convey the materials to the target placing surface; and moreover, the placing angle of the materials can be adjusted, so that when the clamping jaw is loosened, the materials can be placed on the target placing surface at the required placing angle, and the working efficiency of the tower crane is improved.
Description
Technical Field
The invention belongs to the technical field of grabbing, and particularly relates to a tower crane and an automatic loosening method for a tower crane hook.
Background
The tower crane, also called tower crane, is the most commonly used hoisting equipment for construction sites or large-scale cargo transportation sites, and the effect of the tower crane is mainly to hoist materials, and can be horizontally transported or vertically transported. The materials lifted by the lifting device comprise steel bars, wood ribs, concrete, steel pipes or containers and the like.
When large-scale materials such as cement pipes and containers are grabbed by the conventional tower crane, the two sides of the materials are directly grabbed by the hooks of the tower crane for lifting, and the bottoms of the materials are in a suspended state, so that the materials are easy to slide down from the hooks directly due to large size and large weight of the materials, and the potential safety hazard is serious. Even if a small amount of tower crane hooks are provided with bearing mechanisms capable of bearing materials, the bearing mechanisms cannot automatically and accurately discharge the materials after lifting the materials, the bearing mechanisms can be manually adjusted only to release the bearing states, and then the materials are manually placed after being detached from the hooks, so that the working 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 the discharging efficiency is low in the process of lifting materials by the tower crane hook in the prior art.
In order to solve the technical problems, the invention provides a tower crane, which adopts the following technical scheme:
the tower crane comprises a tower body, a rotating arm arranged at the top end of the tower body in a rotating mode, and a hook connected to the end portion of the rotating arm in a lifting mode, wherein the hook comprises a supporting mechanism and clamping jaws used for grabbing materials, the supporting mechanism comprises two telescopic rods, the end portions of the telescopic rods are connected with supporting plates used for supporting the materials, the clamping jaws are arranged between the two telescopic rods in a lifting mode, and the clamping jaws can rotate relative to the supporting mechanism.
Optionally, the tower crane hook further 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, the rotation and the 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 face of the material in the length direction faces the target placing face or not and whether part of the end face is in contact with the target placing face 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 problems, 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 hooks with the materials to descend so that a first interval is reserved between the bearing plate and the target placing surface;
when a first distance sensing module detects that a first distance is reserved 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 through a second control module, so that the clamping jaw and the materials grabbed by the clamping jaw can extend out of the bearing mechanism, and a second distance is reserved 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 is reserved 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 the 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 a 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 the 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 contacts with the target placing face;
when the second distance sensing module detects that part of the end surface of the material is contacted 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;
and loosening the clamping jaw from the material through the third control module.
Optionally, the step of controlling, by the first control module, the hook with the material to descend so that a first distance is provided between the support plate and the target placement surface specifically includes:
and the first control module controls the hooks to descend at a first speed so that the bearing plate descends at the first speed to the first distance between the bearing plate and the target placing surface.
Optionally, when the first distance sensing module detects that the first distance is between the support plate and the target placement surface, the second control module adjusts the lengths of the two telescopic rods and the distance between the two telescopic rods, so that the clamping jaw and the material grabbed by the clamping jaw can extend out of the support mechanism, and the step of enabling the second distance between the support plate and the target placement surface specifically includes:
the lengths of the two telescopic rods are adjusted through the second control module, so that a second interval 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 interval and the second interval;
the second control module is used for adjusting the distance between the two telescopic rods so that the clamping jaw for grabbing materials can extend out of the bearing mechanism from the position between the two bearing plates.
Optionally, when the second distance between the bearing plate and the target placement surface is detected by the first distance sensing module, a difference value between the rotation angle of the clamping jaw and a preset angle is detected by the angle sensing module, 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, and the method specifically includes:
the third control module is used for controlling the clamping jaw to descend 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;
and the third control module is used for controlling the clamping jaw to rotate so that the rotation angle of the material is consistent with the preset angle.
Optionally, the step of controlling, by the third control module, the jaw to descend so that the jaw and the material grasped by the jaw extend out of the supporting mechanism, and a gap is formed between the bottom of the material and the target placement surface specifically includes:
and the third control module is used for controlling the clamping jaw to descend at a second speed so that the clamping jaw and the materials grabbed by the clamping jaw extend out of the bearing mechanism at the second speed, wherein the second speed is smaller than the first speed.
Optionally, when the rotation angle of the clamping jaw detected by the angle sensing module is consistent with the preset angle, the third control module controls the material to incline to a 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: and 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 the one end surface of the material in the length direction faces the target placement surface, the third control module descends the clamping jaw, so that a part of the end surface of the material contacts with the target placement surface, and the method specifically includes:
and controlling the clamping jaw to descend at a third speed through a third control module so as to enable part of the end face of the material to be in contact with the target placing face, wherein the third speed is smaller than the first speed.
Optionally, when the contact between the part of the end surface of the material and the target placement surface is detected by the second distance sensing module, the step of controlling the material to gradually increase the inclination angle in the length direction by the third control module so that the material can be vertically placed on the target placement surface specifically includes:
and the third control module is used for controlling the material to gradually increase the inclination angle in the length direction at a preset rotating speed, so that the area of one end surface of the material, which contacts the target placing surface, is gradually increased until the material can be vertically placed on the target placing surface.
Optionally, after the step of releasing the jaw from the material by the third control module, further comprises:
and controlling the clamping jaw to lift to a first initial position through the third control module.
Optionally, after the step of releasing the jaw from the material by the third control module, further comprises:
and controlling the hook to lift to a second initial position through the first control module.
Compared with the prior art, the invention has the following main beneficial effects:
according to the automatic loosening method for the tower crane and the tower crane hook, when the tower crane hook lifts materials to the target placing surface, the supporting mechanism can be controlled to release the supporting state according to the distance between the two supporting plates and the target placing surface, so that the clamping jaw can convey the materials to the target placing surface, the supporting state of the supporting mechanism is not required to be manually released, and the working efficiency of the tower crane is improved; and, the in-process of placing the material to the target surface of placing at the clamping jaw can adjust the angle of putting of material to when the clamping jaw loosen, the material can be placed on the target surface of placing with required angle of putting, need not to put again the manual work, has further improved the work efficiency of tower crane.
Drawings
Fig. 1 is a schematic structural diagram of a hook of a tower crane according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a process of loosening a hook of a tower crane according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for automatically loosening a tower crane hook according to an embodiment of the present 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 "comprising" and "having" and any variations thereof in the description of the invention and the claims and the description of the drawings above 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 above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases 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. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
As shown in fig. 1 to 3, the embodiment of the invention provides an automatic loosening method for a tower crane hook. The embodiment of the invention can be applied to the hook 200 of the tower crane, so that the hook 200 of the tower crane can be controlled to hoist materials 1 (such as cement pipes, steel pipes and other building materials or containers and the like). The loosening method comprises the following steps:
in step S20, the first control module controls the hook 200 with the material 1 to descend, so that a first distance is provided between the support plate 222 and the target placement surface.
The specific value of the first spacing may be determined based on the height of jaw 210 and the height of material 1. Specifically, the first spacing is intended to: when the clamping jaw 210 for grabbing the material 1 extends out of the supporting mechanism 220, a space is reserved between the bottom of the material 1 and the target placement surface 2, so that the clamping jaw 210 can grab the material 1 for the next operation.
As shown in fig. 2 (a) to (c), the material 1 is still located in the supporting mechanism 220 when the hook 200 moves to the position where the supporting plate 222 has the first distance from the target placement surface 2, that is, the two supporting plates 222 still support the material 1. After step S30 is completed, the two support plates 222 are released from supporting the material 1, and the gripping jaw 210 for gripping the material 1 is provided with a condition for extending the supporting mechanism 220.
In step S30, when a first distance between the support plate 222 and the target placement surface 2 is detected by the first distance sensing module, the lengths of the two telescopic rods 221 and the distance between the two telescopic rods 222 are adjusted by the second control module, so that the holding jaw 210 and the material 1 held by the holding jaw 210 can extend out of the holding mechanism 220, and a second distance is provided between the support plate 222 and the target placement surface 2, wherein the first distance is greater than the second distance.
In step S40, when the first distance sensing module detects that the second distance is between the support plate 222 and the target placement surface 2, 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.
In step S50, when the angle sensing module detects that the rotation angle of the clamping jaw 210 is consistent with the preset angle +.a, the third control module controls the material 1 to incline to the preset angle in the length direction, so that one end surface of the material 1 in the length direction faces the target placement surface 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 placement surface 2, the third control module lowers the clamping jaw 210, so that a part of the end surface of the material 1 contacts the target placement surface 2.
Step S70, when the second distance sensing module detects that part of the end surface of the material 1 contacts the target placement surface 2, the third control module controls the material 1 to gradually increase the inclination angle in the length direction so that the material 1 can be vertically placed on the target placement surface 2
With respect to steps S30 to S70, since after the holding jaw 210 extends out of the holding mechanism 220, it may be necessary to control the rotation of the holding jaw 210 to adjust the posture of the material 1 according to the requirement. Therefore, after the gripping jaw 210 gripping the material 1 extends out of the supporting mechanism 220, a point space is required between the material 1 and the target placement surface 2, so as to provide a rotation space for the gripping jaw 210 gripping the material 1, where the space is the difference between the first space and the second space. Afterwards, the material 1 is inclined by a preset inclination angle in the length direction so as to provide conditions for vertically placing the material 1 on the target placing surface 2, and after part of the end part of the material 1 is contacted with the target placing surface 2, the end surface of the material 1 is gradually close to the target placing surface 2 until the end surface contacts with the target placing surface 2, so that the defect that the material 1 is damaged due to overlarge impact caused by directly placing the material 1 on the target placing surface 2 is prevented.
As shown in fig. 2 (d) to (f), after the hook 200 moves to a position with a second distance between the support plate 222 and the target placement surface 2, the placement posture of the material 1 can be adjusted according to the actual situation, so as to avoid the need of manual placement.
Step S80, loosening the clamping jaw to enable the material to be loosened 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 after the hook 200 of the tower crane lifts the material 1 is realized.
Compared with the prior art, the loosening method provided by the embodiment of the invention has the following main beneficial effects:
according to the loosening method, when the tower crane hook 200 lifts the material 1 to the target placement surface 2, the supporting mechanism 220 can be controlled to release the supporting state according to the distance between the two supporting plates 222 and the target placement surface 2, so that the clamping jaw 210 can convey the material 1 to the target placement surface 2, the supporting state of the supporting mechanism 220 is not required to be manually released, and the working efficiency of the tower crane is improved; and, in the in-process that clamping jaw 210 placed material 1 to target and place face 2, can adjust the angle of putting of material 1 to when clamping jaw 210 loosen, material 1 can place on target and place face 2 with required angle of putting, need not to put again the manual work, has further improved the work efficiency of tower crane.
In some alternative implementations of the present embodiment, before the step of controlling the hook 200 having the material 1 gripped by the first control module to descend so as to have the first distance between the bearing plate 222 and the target placement 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 placement surface 2.
After the hook 200 of the tower crane grabs the material 1 at the material taking position, the first control module controls the hook 200 to move to the position right above the target placing surface 2, 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, by the first control module, the hook 200 having the material 1 gripped to descend so as to have the first distance between the support plate 222 and the target placement surface 2, that is, the step S20 specifically includes:
the hooks 200 are controlled to descend at a first speed by the first control module so that the support plate 222 descends at the first speed to have a first distance between the support plate 222 and the target placement surface 2.
Since the material 1 is already located right above the target placement surface 2 after the step S10 is performed, the step S20 is performed, and the hook 200 is directly lowered (i.e. the clamping jaw 210 and the supporting mechanism 220 are synchronously lowered) by the first control module. And when the hanger 200 descends to a position having a first interval between the support plate 222 and the target placement surface 2, the hanger 200 is controlled to stop the descending motion to provide the operation space for the above-mentioned step S30.
Since the step S20 is to move the hook 200 lifting the material 1 from a position directly above the target placement surface 2 to a position close to the target placement surface 2 with a long moving stroke, the first speed is relatively large, and the first speed may be in the range of 1-3m/S.
In some alternative implementations of the present embodiment, as shown in fig. 2 (b) and (c), when a first distance between the support plate 222 and the target placement surface 2 is detected by the first distance sensing module, the length of the two telescopic rods 221 and the distance between the two telescopic rods 221 are adjusted by the second control module, so that the holding jaw 210 and the material 1 held by the holding jaw 210 can extend out of the holding mechanism 220, and a second distance between the support plate 222 and the target placement surface 2 is provided, namely, step S30 specifically includes:
in step S31, the lengths of the two telescopic rods 221 are adjusted by the second control module, so that a second distance is provided between the support plate 222 and the target placement surface 2, and a gap is provided between the support plate 22 and the bottom of the material 1, wherein the gap is the difference between the first distance and the second distance.
Before the two support plates 222 are removed from the two sides of the material 1, respectively, the contact relationship between the support plates 222 and the bottom of the material 1 needs to be released. At this time, the step S31 is executed, so that the two telescopic rods 221 are extended, and a second distance is provided between the bottom of the supporting plate 222 and the bottom of the material 1, so that abrasion of the bottom of the material 1 and the surface of the supporting plate 222 contacting the material 1 caused by the two supporting plates 222 moving out from the two sides of the material 1 can be effectively prevented when the bottom of the supporting plate 222 and the bottom of the material 1 are still in contact.
And S32, adjusting the distance between the two telescopic rods through a second control module so that the clamping jaw for grabbing the materials can extend out of the bearing mechanism from the position between the two bearing plates.
After step S31 is performed, although the two supporting plates 222 have no contact relationship with the bottom of the material 1, the two supporting plates 222 are still in a supporting posture, and at this time, the clamping jaw 210 capturing the material 1 is lowered, and the material 1 is also supported by the two supporting plates 222 and cannot be placed on the target placement surface 2. At this time, step S32 is performed to increase the distance between the two telescopic rods 221, and the space therebetween is sufficient for the clamping jaw 210 for gripping the material 1 to pass smoothly between the two supporting 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 second distance exists between the support plate and the target placement surface, 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 rotation of the clamping jaw 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:
step 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.
Since it may be necessary to adjust the placement angle at which the material 1 is placed on the target placement surface 2, and to place the material 1 on the target placement surface 2. It is therefore necessary to lower the holding jaw 210 holding the material 1 so as to protrude out of the holding mechanism 220, to prevent interference by the holding mechanism when the holding jaw 210 adjusts the placement angle of the material 1, and to enable the material 1 to be placed on the target placement surface 2.
And S42, controlling the clamping jaw to rotate through a third control module so as to enable the rotation angle of the material to be consistent with the preset angle.
After the clamping jaw 210 for grabbing the material 1 stretches out of the supporting mechanism 220, the swing angle of the material 1 can be adjusted according to the placing requirement of the material or according to the placing condition of 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 manually for a second time.
In some optional implementations of this embodiment, the third control module controls the jaw 210 to descend, so that the jaw 210 and the material 1 gripped by the jaw 210 extend out of the holding mechanism 220, and a gap is formed between the bottom of the material 1 and the target placement surface 2, that is, 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 supporting mechanism 220 at the second speed, wherein the second speed is lower than the first speed.
Since the gripping jaw 210 moves down the gripped material to move the material 1 a short distance within the first distance, the second speed may be a slower speed to facilitate the short distance lifting of the gripping jaw 210. The second speed may be in the range of 0.1-0.3m/s.
In some optional implementations of this embodiment, when the rotation angle of the clamping jaw 210 detected by the angle sensing module is consistent with the preset angle +.a, the third control module controls the material 1 to tilt to the preset angle in the length direction, so that one end surface of the material 1 in the length direction faces the target placement surface 2, that is, in step S50:
the range of the preset inclination angle can be: the angle A is more than or equal to 30 degrees and less than or equal to 60 degrees,
wherein, angle A is the preset inclination angle.
In some optional implementations of this embodiment, when it is detected by the second distance sensing module that one end surface of the material 1 in the length direction faces the target placement surface 2, the third control module lowers the clamping jaw 210, so that a part of the end surface of the material 1 contacts the target placement surface 2, that is, step S60 specifically includes:
the jaw 210 is controlled by a third control module to descend at a third speed to bring part of the end surface of the material 1 into contact with the target placement surface 2, wherein the third speed is smaller than the first speed.
Since the gripping jaw 210 moves down the gripped material to move the material 1 a short distance within the first interval, the third speed may be a slower speed to facilitate the short-distance lifting of the gripping jaw 210. The third speed may be in the range of 0.1-0.3m/s.
In some optional implementations of this embodiment, when it is detected by the second distance sensing module that a part of the end surface of the material 1 contacts the target placement surface 2, the third control module controls the material 1 to gradually increase the inclination angle in the length direction, so that the material 1 can be placed vertically on the target placement surface 2, that is, step S70 specifically includes:
the third control module is used for controlling the material 1 to gradually increase the inclination angle in the length direction at a preset rotating speed, so that the area of one end face of the material 1, which contacts the target placement face 2, is gradually increased until the material 1 can be vertically placed on the target placement face 2.
The preset rotating speed can be a slower speed, and after part of the end part of the material 1 is contacted with the target placing surface 2, the end surface of the material 1 is gradually close to the target placing surface 2 until the end surface contacts with the target placing surface 2, so that the defect that the material 1 is damaged due to overlarge impact caused by the fact that the material 1 is directly placed on the target placing surface 2 is prevented.
In some alternative implementations of the present embodiment, after the step of controlling the gripping jaw 210 to loosen the material 1 by the third control module, i.e. after step S80, further comprises:
step S90, the control jaw 210 is lifted back to the first initial position.
The first initial position refers to a position when the material 1 is still placed in the supporting mechanism 220.
Step S100, the control hook 200 is lifted back to the initial position.
The second initial position refers to a position when the hook 200 lifts the material 1 to a position right above the target placement surface 2 and the hook 200 is not lowered yet. After returning the hook 200 to the second initial position, the next material 1 may be lifted.
In order to solve the above technical problems, an embodiment of the present invention further provides a tower crane, as shown in fig. 2, where the tower crane includes a tower body (not shown in the drawing) and a rotating arm (not shown in the drawing) rotatably disposed at the top end of the tower body. In addition, the tower crane further comprises a hook 200 connected to the end of the rotating arm in a lifting manner, the hook 200 comprises a supporting mechanism 220 and a clamping jaw 210 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 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, and can control the bearing mechanism 220 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 is not required to be manually released, and the working efficiency of the tower crane is improved; and, in the in-process that clamping jaw 210 placed material 1 to target and place face 2, can adjust the angle of putting of material 1 to when clamping jaw 210 loosen, material 1 can place on target and place face 2 with required angle of putting, need not to put again the manual work, has further improved the work efficiency of tower crane.
In some alternative implementations of the present embodiment, both of the support plates 222 may be provided with a first distance sensing module (not shown in the figures) for detecting a distance between the support plate and the target placement surface, the distance including the first distance and the second distance described above.
In some alternative implementations of the present embodiment, the tower crane hook 200 further includes:
the first control module is used for controlling the lifting of the hook 200;
a second control module for adjusting the interval between the two telescopic rods 221 and the length of each telescopic rod 221;
a third control module for controlling lifting, rotation and picking and placing of the clamping jaw 210;
a first distance sensing module for detecting whether the distance between the support plate 222 and the target placement surface 2 is a first distance or a second distance;
the angle sensing module is used for detecting a 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 face of the material in the length direction faces the target placing face or not and whether part of the end face is in contact with the target placing face or not;
wherein, first control module locates on the rocking arm, and first control module locates on telescopic link 221, and third control module, first distance sensing module, second distance sensor and angle sensing module all set up on clamping jaw 210.
It is apparent that the above-described embodiments are only some embodiments of the present invention, but not all embodiments, and the preferred embodiments of the present invention are shown in the drawings, which do not limit the scope of the patent claims. This invention may be embodied in many different forms, but rather, embodiments are provided in order to provide a thorough and complete understanding of the present disclosure. Although the invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing description, or equivalents may be substituted for elements thereof. All equivalent structures made by the content of the specification and the drawings of the invention are directly or indirectly applied to other related technical fields, and are also within the scope of the invention.
Claims (10)
1. The tower crane comprises a tower body and a rotating arm rotationally arranged at the top end of the tower body, and is characterized by further comprising a hook which is connected to the end part of the rotating arm in a lifting manner, wherein the hook comprises a bearing mechanism and clamping jaws used for grabbing materials, the bearing mechanism comprises two telescopic rods, the end part of each telescopic rod is connected with a bearing plate used for bearing the materials, the clamping jaws are arranged between the two telescopic rods in a lifting manner, and the clamping jaws can rotate relative to the bearing mechanism; the tower crane hook further comprises:
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, the rotation and the 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 face of the material in the length direction faces the target placing face or not and whether part of the end face is in contact with the target placing face 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.
2. An automatic loosening method for a tower crane hook, which is applied to the tower crane hook as claimed in claim 1, and comprises the following steps:
the first control module controls the hooks with the materials to descend so that a first interval is reserved between the bearing plate and the target placing surface;
when a first distance sensing module detects that a first distance is reserved 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 through a second control module, so that the clamping jaw and the materials grabbed by the clamping jaw can extend out of the bearing mechanism, and a second distance is reserved 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 is reserved 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 the 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 a 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 the 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 contacts with the target placing face;
when the second distance sensing module detects that part of the end surface of the material is contacted 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;
and loosening the clamping jaw from the material through the third control module.
3. The loosening method as claimed in claim 2, wherein the step of controlling the lowering of the hook holding the material by the first control module so that the support plate has a first distance from the target placement surface comprises:
and the first control module controls the hooks to descend at a first speed so that the bearing plate descends at the first speed to the first distance between the bearing plate and the target placing surface.
4. The loosening method as claimed in claim 2, wherein when the first distance sensing module detects that the first distance is between the support plate and the target placement surface, the second control module adjusts the lengths of the two telescopic rods and the distance between the two telescopic rods so that the clamping jaw and the material grabbed by the clamping jaw can extend out of the supporting mechanism, and the step of enabling the second distance between the support plate and the target placement surface specifically comprises:
the lengths of the two telescopic rods are adjusted through the second control module, so that a second interval 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 interval and the second interval;
the second control module is used for adjusting the distance between the two telescopic rods so that the clamping jaw for grabbing materials can extend out of the bearing mechanism from the position between the two bearing plates.
5. A loosening method as claimed in claim 3, wherein when the first distance sensing module detects that the second distance is between the support plate and the target placement surface, the angle sensing module detects a difference 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, so that the rotation angle of the clamping jaw is consistent with the preset angle, specifically including:
the third control module is used for controlling the clamping jaw to descend 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;
and the third control module is used for controlling the clamping jaw to rotate so that the rotation angle of the material is consistent with the preset angle.
6. A loosening method as claimed in claim 3, wherein the step of controlling the jaw to descend by the third control module so that the jaw and the material gripped by the jaw extend out of the holding mechanism with a gap between the bottom of the material and the target placement surface comprises:
and the third control module is used for controlling the clamping jaw to descend at a second speed so that the clamping jaw and the materials grabbed by the clamping jaw extend out of the bearing mechanism at the second speed, wherein the second speed is smaller than the first speed.
7. The loosening method as claimed in claim 6, wherein the step of lowering the jaw by the third control module to bring a part of the end surface of the material into contact with the target placement surface when the end surface of the material in the length direction is detected by the second distance sensing module includes:
and controlling the clamping jaw to descend at a third speed through a third control module so as to enable part of the end face of the material to be in contact with the target placing face, wherein the third speed is smaller than the first speed.
8. The loosening method as claimed in claim 7, wherein the step of controlling the material to gradually increase the inclination angle in the length direction by the third control module when the contact of the partial end surface of the material with the target placement surface is detected by the second distance sensing module, so that the material can be vertically placed on the target placement surface comprises:
and the third control module is used for controlling the material to gradually increase the inclination angle in the length direction at a preset rotating speed, so that the area of one end surface of the material, which contacts the target placing surface, is gradually increased until the material can be vertically placed on the target placing surface.
9. The loosening method of claim 2, further comprising, after the step of loosening the jaw from the material by the third control module:
and controlling the clamping jaw to lift to a first initial position through the third control module.
10. The loosening method of claim 2, further comprising, after the step of loosening the jaw from the material by the third control module:
and controlling the hook to lift to a second initial position through the first control module.
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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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| CN202210077035.XA CN114604736B (en) | 2022-01-24 | 2022-01-24 | Tower crane and automatic loosening method of tower crane hook |
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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 |
| CN206799017U (en) * | 2017-05-28 | 2017-12-26 | 江苏省苏中建设集团股份有限公司 | A kind of tower crane type gripping tool |
| 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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