CN114922079B - Control method for automatic cable-crossing clamp on cable-carrying crane cable - Google Patents
Control method for automatic cable-crossing clamp on cable-carrying crane cable Download PDFInfo
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- CN114922079B CN114922079B CN202210569925.2A CN202210569925A CN114922079B CN 114922079 B CN114922079 B CN 114922079B CN 202210569925 A CN202210569925 A CN 202210569925A CN 114922079 B CN114922079 B CN 114922079B
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D21/00—Methods or apparatus specially adapted for erecting or assembling bridges
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
Abstract
The invention discloses a control method for automatically crossing cable clamps on a cable carrying crane, which relates to the technical field of cable carrying cranes and solves the technical problem that the existing cable carrying cranes cannot automatically cross the cable clamps, and comprises the following steps: the front end and the rear end of the travelling wheel are provided with detection mechanisms; dividing the 4 travelling wheels into a front group and a rear group; when the detection mechanism at the front end of the travelling wheel detects the cable clamp, suspending the automatic traction travelling control of the cable carrying crane on all main cables; the load conversion jack of the other non-span cable clamp walking wheel in the same walking wheel group is controlled to be smoothly loaded to the appointed oil pressure in advance; controlling a load conversion jack shrinkage cylinder of a travelling wheel close to the cable clamp to meet the height of the cable clamp; restoring the automatic traction walking control; when the detection mechanism at the rear end of the lifted travelling wheel detects that the cable clamp leaves, suspending automatic traction travelling control; the load conversion jacks which span the travelling wheels of the cable clamp extend into the cylinders and continuously load oil pressure to adjust the mutual load balance of the load conversion jacks in the same group.
Description
Technical Field
The invention relates to the technical field of cable-carried cranes, in particular to a control method for automatically crossing cable clamps on a cable of a cable-carried crane.
Background
At present, when a cable-carried crane walking on a wheel type cable walks on a plurality of parallel main cables, walking wheels of a walking mechanism on each main cable need to span a cable clamp on the main cable, as shown in fig. 1, the walking mechanism comprises a walking mechanism main body A, 4 load conversion jacks B are arranged on the walking mechanism main body A, walking wheels C are arranged at the bottoms of the load conversion jacks B, the walking wheels C are supported on a main cable D, and the walking of the walking mechanism is controlled by automatic traction. Because cable clip specification is different, its appearance, spraying colour are different, be difficult for by proximity sensor, color code sensor or single-point range finding class's sensor direct identification, in the past all by the relative position of the cable carrying crane of people's eye discernment cable clip, when needs control cable carrying crane walking wheel span the cable clip, must stop and cut automatic walking procedure, lift the walking wheel by manual operation instead, manual operation walking, the walking wheel spans the cable clip after the manual operation walking wheel put down, manual operation walking again, so the same operation is all spaned the cable clip with all walking wheels of cable carrying crane, the efficiency is lower.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and aims to provide a control method for automatically crossing cable clamps on a cable-mounted crane cable, which can improve efficiency.
The technical scheme of the invention is as follows: a control method for automatically crossing cable clamps on a cable-carrying crane cable comprises the following steps:
detecting mechanisms are respectively arranged on the travelling mechanism main bodies at the front end and the rear end of each travelling wheel, and the cable clamp is monitored through the detecting mechanisms;
equally dividing 4 travelling wheels of the same travelling mechanism main body into a front group and a rear group;
when the detection mechanism at the front end of one travelling wheel detects a cable clamp, the travelling wheel is indicated to be close to the cable clamp, and the controller pauses the automatic traction travelling control of the cable-carried crane on all main cables;
the controller controls a load conversion jack of another traveling wheel without a span cable clamp in the same traveling wheel group to be smoothly loaded to the appointed oil pressure in advance;
the controller controls the load conversion jack cylinder close to the travelling wheel of the cable clamp to enable the travelling wheel to be lifted to a position where displacement data meet the height of the cable clamp;
the controller resumes the automatic traction running control of the cable-carrying crane on all main cables;
when the detection mechanism at the rear end of the lifted travelling wheel detects that the cable clamp leaves, the travelling wheel spans the cable clamp, and the controller pauses the automatic traction travelling control of the cable-carried crane on all main cables;
the controller controls the extension cylinder of the load conversion jack of the walking wheel which spans the cable clamp, lowers the walking wheel onto the main cable, and continuously loads oil pressure to adjust the mutual load balance of the same group of load conversion jacks;
the controller resumes the automatic traction running control of the cable carrying crane on all main cables to finish the crossing of one travelling wheel by the cable clamp.
As a further improvement, the same group of non-lifting load conversion jack oil pressure of the walking wheels of the span clip is 90% of rated load; and designating that the oil pressure of the two load conversion jacks in the same group where the travelling wheels crossing the cable clamp are positioned is equal.
Further, the detection mechanism is a three-dimensional visual ranging sensor; the monitoring direction of the three-dimensional visual ranging sensor is perpendicular to the main cable, the distance array discrete curves of the surface of the main cable measured by the three-dimensional visual ranging sensor tend to be circular arcs, and the measured distance array discrete curves of the surfaces of various cable clamps are non-circular arcs; when the distance array discrete curve is monitored to be changed from an arc to a non-arc, the three-dimensional visual ranging sensor is indicated to enter a cable clamp area; when the distance array discrete curve is monitored to be changed from a non-circular arc to a circular arc, the three-dimensional visual ranging sensor is indicated to leave the cable clamp area.
Further, the detection mechanism is a polarized photoelectric sensor, and the cable clamp is provided with a polarized reflection foil reflection belt corresponding to the polarized photoelectric sensor; when the polarized photoelectric sensor does not monitor the signal to monitor the signal, the polarized photoelectric sensor enters a cable clamp area; when the polarized photosensor is from monitoring a signal to not monitoring a signal, it indicates that the polarized photosensor is leaving the cable clamp area.
Further, the polarized reflective foil reflective tape is connected with the cable clip through a self-adhesive magnetic stripe.
Further, the length of the polarized reflection foil reflection belt is larger than or equal to the length of the cable clip, and the length of the polarized reflection foil reflection belt is smaller than the distance between two travelling wheels in the same group.
Advantageous effects
Compared with the prior art, the invention has the advantages that:
1. according to the invention, the three-dimensional visual ranging sensor is utilized to monitor the characteristic that the discrete curve of the distance array vertical to the surface of the main cable tends to be circular arc, and the discrete curve of the distance array of various cable clamps is necessarily non-circular arc, so that the controller can effectively identify the cable clamps by taking the discrete curve as the judgment for identifying the cable clamps, and can control the travelling wheels to lift and put down so as to realize automatic cable clamp crossing, thereby improving the efficiency.
2. According to the invention, the cable clamp is provided with the polarized reflection foil reflection belt, and the characteristic that the polarized photoelectric sensor only performs identification induction on the polarized reflection foil is utilized, so that interference of other light rays or other objects can be avoided, the cable clamp is effectively identified, and automatic cable clamp crossing is realized.
3. According to the invention, the load conversion jack of the other travelling wheel in the same group of travelling wheels to be lifted is smoothly loaded to 90% of rated load in advance, so that the mutual damage between the travelling wheel and the main cable caused by abrupt load change can be effectively avoided; monitoring the displacement data of the lifted load conversion jack to meet the setting of the height of the crossing cable clamp, and avoiding the contact damage of the travelling wheel and the cable clamp when the travelling wheel crosses the cable clamp; so that the cable-carrying crane can stably span various cable clamps.
Drawings
FIG. 1 is a schematic diagram of a conventional walking mechanism;
FIG. 2 is a schematic view of the structure of an embodiment 1 of the walking mechanism of the present invention;
FIG. 3 is a schematic view of the embodiment 2 of the walking mechanism of the present invention;
fig. 4 is a control flow chart of the present invention.
Wherein: 1-travelling wheel, 2-travelling mechanism main body, 3-detection mechanism, 4-cable clamp, 5-load conversion jack, 6-main cable, 7-polarization reflection foil reflection band.
Detailed Description
The invention will be further described with reference to specific embodiments in the drawings.
Referring to fig. 2-4, a method for controlling automatic cable clip crossing on a cable of a cable-mounted crane includes:
the detection mechanisms 3 are respectively arranged on the travelling mechanism main body 2 at the front end and the rear end of each travelling wheel 1, and the cable clamps 4 are monitored through the detection mechanisms 3;
the 4 travelling wheels 1 of the same travelling mechanism main body 2 are equally divided into a front group and a rear group;
when the detection mechanism 3 at the front end of one travelling wheel 1 detects the cable clamp 4, the travelling wheel 1 approaches the cable clamp 4, and the controller pauses the automatic traction travelling control of the cable-carried crane on all main cables;
the controller controls the load conversion jack 5 of the other non-span cable clamp travelling wheel 1 in the same group of travelling wheels 1 to be smoothly loaded to the appointed oil pressure in advance;
the controller controls the load conversion jack 5 of the travelling wheel 1 close to the cable clamp 4 to retract, so that the travelling wheel 1 is lifted to a position where displacement data meet the height of the cable clamp 4;
the controller resumes the automatic traction running control of the cable-carrying crane on all main cables;
when the detection mechanism 3 at the rear end of the lifted travelling wheel 1 detects that the cable clamp 4 leaves, the travelling wheel 1 spans the cable clamp 4, and the controller pauses the automatic traction travelling control of the cable-carried crane on all main cables;
the controller controls the cylinder extension of the load conversion jacks 5 of the travelling wheels 1 which are spanned by the cable clamp 4, the travelling wheels 1 are put down on the main cable 6, and the oil pressure is continuously loaded to adjust the mutual load balance of the load conversion jacks 5 in the same group, namely the oil pressures of the two load conversion jacks 5 are mutually balanced;
the controller resumes the automatic traction running control of the cable-carried crane on all main cables, and finishes the crossing of one travelling wheel 1 over the cable clamp 4.
Preferably, the same group of non-lifting load conversion jacks 5 designated on the travelling wheels of the cable clamp smoothly load oil pressure to 90% of rated load in advance; the oil pressure of the two load conversion jacks 5 in the same group where the walking wheels crossing the cable clamps are located is equal, and the displacement data of the lifted load conversion jacks 5 are monitored to meet the setting of crossing the heights of the cable clamps, so that the cable-carried crane can stably cross various cable clamps.
Example 1
As shown in fig. 2, the detection mechanism 3 is a three-dimensional visual ranging sensor; the monitoring direction of the three-dimensional visual ranging sensor is perpendicular to the main cable 6, the distance array discrete curves of the surface of the main cable 6 measured by the three-dimensional visual ranging sensor tend to be circular arcs, and the measured distance array discrete curves of the surfaces of the various cable clamps 4 are non-circular arcs; when the distance array discrete curve is monitored to be changed from an arc to a non-arc, the three-dimensional visual ranging sensor is indicated to enter the area of the cable clamp 4; when the distance array dispersion curve is monitored to be changed from a non-circular arc to a circular arc, the three-dimensional visual ranging sensor is shown to leave the area of the cable clamp 4, and the cable clamp can be effectively identified without depending on accessory devices.
Example 2
The detection mechanism 3 is a polarized photoelectric sensor, and the cable clamp 4 is provided with a polarized reflective foil reflective belt 7 corresponding to the polarized photoelectric sensor; when the polarized photoelectric sensor does not monitor the signal to monitor the signal, the polarized photoelectric sensor enters the area of the cable clamp 4; when the polarized photosensor is from monitoring a signal to not monitoring a signal, it indicates that the polarized photosensor is leaving the area of the cable clamp 4.
The polarized reflective foil reflective tape 7 can be repeatedly paved and used through the self-adhesive magnetic stripe connecting cable clamp 4, and specifically, the polarized reflective foil reflective tape 7 is formed by splicing (long side connection) a plurality of polarized reflective foils with the length of 10cm multiplied by 20 cm. The length of the polarized reflective foil reflective tape 7 is greater than or equal to the length of the cable clip 4, and the length of the polarized reflective foil reflective tape 7 is less than the distance between two travelling wheels 1 in the same group. The characteristic that the polarized photoelectric sensor only carries out identification induction on the polarized reflecting foil can avoid interference of other light rays or other objects, and the cable clamp is effectively identified, so that the cable clamp can be automatically crossed.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these do not affect the effect of the implementation of the present invention and the utility of the patent.
Claims (6)
1. The control method for automatically crossing the cable clamp on the cable-carrying crane cable is characterized by comprising the following steps of:
a detection mechanism (3) is respectively arranged on a travelling mechanism main body (2) at the front end and the rear end of each travelling wheel (1), and a cable clamp (4) is monitored through the detection mechanism (3);
the 4 travelling wheels (1) of the same travelling mechanism main body (2) are equally divided into a front group and a rear group;
when the detection mechanism (3) at the front end of one travelling wheel (1) detects the cable clamp (4), the travelling wheel (1) approaches the cable clamp (4), and the controller pauses the automatic traction travelling control of the cable-carried crane on all main cables;
the controller controls a load conversion jack (5) of another non-cable-crossing clip travelling wheel (1) in the same group of travelling wheels (1) to be smoothly loaded to the appointed oil pressure in advance;
the controller controls the load conversion jack (5) close to the travelling wheel (1) of the cable clamp (4) to retract, so that the travelling wheel (1) is lifted to a position where displacement data meet the height of the cable clamp (4);
the controller resumes the automatic traction running control of the cable-carrying crane on all main cables;
when the detection mechanism (3) at the rear end of the lifted travelling wheel (1) detects that the cable clamp (4) leaves, the travelling wheel (1) spans the cable clamp (4), and the controller pauses the automatic traction travelling control of the cable-carried crane on all main cables;
the controller controls the cylinder extension of the load conversion jack (5) of the travelling wheel (1) which spans the cable clamp (4), lowers the travelling wheel (1) onto the main cable (6), and continuously loads oil pressure to adjust the mutual load balance of the load conversion jacks (5) in the same group;
the controller resumes the automatic traction running control of the cable carrying crane on all main cables, and finishes the crossing of one travelling wheel (1) over the cable clamp (4).
2. A control method for automatic cable-on-cable crane cable crossing according to claim 1, characterized by designating the oil pressure of the same set of non-lifting load converting jacks (5) at the travelling wheels of the cable crossing clip as 90% of rated load; the oil pressure of two load conversion jacks (5) in the same group where the walking wheels crossing the cable clamp are specified to be equal.
3. A method for controlling automatic cable-clip crossing on a cable-mounted crane cable according to claim 1 or 2, wherein the detection mechanism (3) is a three-dimensional visual ranging sensor; the monitoring direction of the three-dimensional visual ranging sensor is perpendicular to the main cable (6), the distance array discrete curves of the surfaces of the main cable (6) measured by the three-dimensional visual ranging sensor tend to be circular arcs, and the distance array discrete curves of the surfaces of the various cable clamps (4) measured by the three-dimensional visual ranging sensor are non-circular arcs; when the distance array discrete curve is monitored to be changed from an arc to a non-arc, the three-dimensional visual ranging sensor is indicated to enter the area of the cable clamp (4); when the distance array discrete curve is monitored to be changed from a non-circular arc to a circular arc, the three-dimensional visual ranging sensor is indicated to leave the area of the cable clamp (4).
4. The method for controlling the automatic cable-crossing clamp on the cable-carrying crane cable according to claim 1 or 2, wherein the detection mechanism (3) is a polarized photoelectric sensor, and the cable clamp (4) is provided with a polarized reflective foil reflective belt (7) corresponding to the polarized photoelectric sensor; when the polarized photoelectric sensor does not monitor the signal to monitor the signal, the polarized photoelectric sensor enters the area of the cable clamp (4); when the polarized photosensor is from monitoring the signal to not monitoring the signal, the polarized photosensor is indicated to leave the area of the cable clamp (4).
5. A method of controlling automatic straddling of a cable clamp on a cable-carrying crane cable according to claim 4, wherein the polarizing reflective foil reflective tape (7) is attached to the cable clamp (4) by a self-adhesive magnetic strip.
6. A method of controlling automatic straddling of a cable clamp on a cable-carrying crane cable according to claim 4, characterized in that the length of the reflective strip (7) of the polarizing foil is greater than or equal to the length of the cable clamp (4) and the length of the reflective strip (7) of the polarizing foil is less than the distance between two travelling wheels (1) in the same group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210569925.2A CN114922079B (en) | 2022-05-24 | 2022-05-24 | Control method for automatic cable-crossing clamp on cable-carrying crane cable |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210569925.2A CN114922079B (en) | 2022-05-24 | 2022-05-24 | Control method for automatic cable-crossing clamp on cable-carrying crane cable |
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| Publication Number | Publication Date |
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| CN114922079A CN114922079A (en) | 2022-08-19 |
| CN114922079B true CN114922079B (en) | 2023-05-23 |
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| CN202210569925.2A Active CN114922079B (en) | 2022-05-24 | 2022-05-24 | Control method for automatic cable-crossing clamp on cable-carrying crane cable |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002038421A (en) * | 2000-07-27 | 2002-02-06 | Shinko Wire Co Ltd | Erection method of structure |
| CN101786577A (en) * | 2009-01-23 | 2010-07-28 | 柳州欧维姆机械股份有限公司 | Dual-machine loading-and-walking type hydraulic numerical control deck erection gantry and control system and control method |
| CN103790114A (en) * | 2014-01-28 | 2014-05-14 | 柳州欧维姆机械股份有限公司 | Hydraulic dragging and idler wheel walking combination cable carrying crane and walking method thereof |
| CN104034281A (en) * | 2014-06-16 | 2014-09-10 | 浙江大学 | Optical self-focusing probe used for free-form surface topography measurement |
| CN215629389U (en) * | 2021-02-18 | 2022-01-25 | 中交第二公路工程局有限公司 | Cable-crossing crane device |
| CN113979325A (en) * | 2021-11-12 | 2022-01-28 | 中铁高新工业股份有限公司 | Automatic cable clamp passing traveling system of cable-mounted crane |
-
2022
- 2022-05-24 CN CN202210569925.2A patent/CN114922079B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002038421A (en) * | 2000-07-27 | 2002-02-06 | Shinko Wire Co Ltd | Erection method of structure |
| CN101786577A (en) * | 2009-01-23 | 2010-07-28 | 柳州欧维姆机械股份有限公司 | Dual-machine loading-and-walking type hydraulic numerical control deck erection gantry and control system and control method |
| CN103790114A (en) * | 2014-01-28 | 2014-05-14 | 柳州欧维姆机械股份有限公司 | Hydraulic dragging and idler wheel walking combination cable carrying crane and walking method thereof |
| CN104034281A (en) * | 2014-06-16 | 2014-09-10 | 浙江大学 | Optical self-focusing probe used for free-form surface topography measurement |
| CN215629389U (en) * | 2021-02-18 | 2022-01-25 | 中交第二公路工程局有限公司 | Cable-crossing crane device |
| CN113979325A (en) * | 2021-11-12 | 2022-01-28 | 中铁高新工业股份有限公司 | Automatic cable clamp passing traveling system of cable-mounted crane |
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| CN114922079A (en) | 2022-08-19 |
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