CN115092839A - Safety assessment early warning method and system for tower crane - Google Patents
Safety assessment early warning method and system for tower crane Download PDFInfo
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- CN115092839A CN115092839A CN202210810176.8A CN202210810176A CN115092839A CN 115092839 A CN115092839 A CN 115092839A CN 202210810176 A CN202210810176 A CN 202210810176A CN 115092839 A CN115092839 A CN 115092839A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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Abstract
The invention relates to a safety assessment early warning method for a tower crane, which is characterized by comprising the following steps: s1, selecting the tower body inclination angles of a plurality of groups of tower cranes, establishing corresponding relations of jib deflection torques at different included angles between jib length axes and inclination datum lines according to different loads under the tower body inclination angles of the groups, and obtaining a corresponding relation table, wherein the included angles are defined as deflection angles; s2, when the tower crane works, detecting the tower body inclination angle, the crane boom load and the crane boom orientation of the tower crane, and calculating the current deflection angle of the crane boom according to the crane boom orientation and the orientation of the tower body inclination reference line; s3, according to the load of the crane boom and the current deflection angle of the crane boom, a corresponding deflection torque value is called from the corresponding relation table; and S4, comparing the deflection torque value with a preset torque early warning value, and generating an early warning signal when the deflection torque value is greater than the torque early warning value. By the scheme, the running safety of the tower crane is improved, and safety accidents are prevented.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a safety assessment early warning method and system for a tower crane
Background
The tower crane has the characteristics of high lifting height, large working amplitude, easy disassembly and assembly and the like, and is widely applied to the fields of civil buildings, industrial construction and the like.
The tower crane mainly comprises a base, a tower body, a rotary table, a crane boom, a lifting mechanism, a balance arm and a cab, wherein the base and the tower body play a supporting role, the rotary table is used for driving the crane boom and the balance arm to rotate and providing braking torque to keep the crane boom at the current angle position so as to prevent the crane boom from freely swinging, and the lifting mechanism is used for lifting cargoes.
When the tower body is in a completely vertical state, the rotary table is in a completely horizontal state, and the lifting arm cannot generate deflection torque on the rotary table at the moment; when the tower body inclines, the horizontal state of the rotary table is broken, the lifting arm generates larger deflection torque to the rotary table, and particularly when the lifting arm is heavy in load, the rotary table is subjected to additional stress. To swing the boom smoothly or to maintain the boom at the current angular position, the turntable is required to output a torque to counteract the yaw torque.
However, when the load of the crane boom is large or the inclination angle of the tower body is large, the deflection torque of the crane boom becomes large, so that a large burden is imposed on the rotary table, the rotary table may be damaged, and the deflection torque of the crane boom may even exceed the maximum output torque of the rotary table, so that the crane boom is out of control, and serious safety accidents are caused.
For the above reasons, it is necessary to design a scheme for monitoring and warning the deflection torque of the crane boom.
Disclosure of Invention
Based on the expression, the invention provides a safety assessment early warning method and system for a tower crane, so as to realize the assessment and early warning of the deflection torque of a crane arm.
The technical scheme for solving the technical problems is as follows:
a safety assessment early warning method for a tower crane comprises the following steps:
s1, selecting the tower body inclination angles of a plurality of groups of tower cranes, establishing corresponding relations between crane boom deflection torques at different included angles of crane boom length axes and inclination datum lines for different loads under each group of tower body inclination angles, and obtaining a corresponding relation table, wherein the included angles are defined as crane boom deflection angles;
s2, when the tower crane works, detecting the tower body inclination angle of the tower crane, the crane boom load and the crane boom direction, and calculating the current deflection angle of the crane boom according to the crane boom direction and the direction of the tower body inclination datum line;
s3, according to the current tower body inclination angle, the crane boom deflection angle and the crane boom load, calling a corresponding deflection torque value from the corresponding relation table;
and S4, comparing the deflection torque value with a preset torque early warning value, and generating an early warning signal when the deflection torque value is greater than the torque early warning value.
As a preferable scheme: correction factors X1 and X2 are respectively set for the boom ascending and descending, wherein X1 is (1+ K theta 1), X2 is (1-K theta 2), K is a constant, and theta 1 is the ascending angle theta 2 of the boom and the descending angle of the boom; detecting the inclination angle of a crane boom when the tower crane works, if the crane boom is in an inclined state, acquiring a correction factor according to the inclination angle, multiplying the transferred deflection torque value by the correction factor to obtain a corrected deflection torque value, comparing the corrected deflection torque value with a torque early warning value, and generating an early warning signal when the former is larger than the latter.
As a preferable scheme: and setting a first torque early warning value and a second torque early warning value, wherein the first torque early warning value is smaller than the second torque early warning value, increasing the balance torque by adding a counterweight to a balance arm of the tower crane when the deflection torque is larger than the first torque early warning value, and sending an early warning signal when the deflection torque is larger than the second torque early warning value.
As a preferable scheme: when the tower body is in an inclined state, the inclination angle of the tower body is detected in real time when the tower crane works, when the inclination angle of the tower body changes, a new deflection torque value is obtained according to the current inclination angle of the tower body, the orientation of a crane arm and the load, the new deflection torque value is compared with a torque early warning value, and an early warning signal is generated when the current deflection torque value is larger than the torque early warning value.
A tower crane safety assessment early warning system includes:
the first inclination angle detection device is used for detecting the inclination direction and the inclination angle of the tower body of the tower crane and outputting a detection result;
the rotation angle detection device is used for detecting the angular position of the crane boom and the rotated angle of the crane boom and outputting a detection result;
the load detection device is used for detecting the load of the crane boom and outputting a detection result;
and the control device is connected with the first inclination angle detection device, the rotation angle detection device and the load detection device, is used for receiving detection results output by the first inclination angle detection device, the second inclination angle detection device and the load detection device, calculates the deflection angle of the cargo boom according to the inclination angle of the tower body and the angular position of the cargo boom, matches the current deflection torque of the cargo boom according to the load of the cargo boom, compares the deflection torque of the cargo boom with a torque early warning value, and generates an early warning signal when the current deflection torque is larger than the torque early warning value.
As a preferable scheme: the control device is used for matching correction factors according to the upper and lower inclination angles of the cargo boom, multiplying the adjusted deflection torque value by the correction factors to obtain a corrected deflection torque value, comparing the corrected deflection torque value with a torque early warning value, and generating an early warning signal when the current value is larger than the latter value.
As a preferable scheme: still include counter weight adjustment mechanism, adjustment mechanism includes and installs the guide rail on the balance arm along the length direction of balance arm, be equipped with the balancing weight on, the balancing weight slides with the guide rail and is connected and can follow the length direction of guide rail and make a round trip to slide, still be equipped with driving motor on the balance beam, driving motor's output shaft coaxial coupling has the lead screw, the lead screw is on a parallel with the guide rail, the lead screw pass the guide rail and with balancing weight threaded connection, the tip of lead screw is provided with the connecting block, the piece is fixed with the balance beam, tip and connecting block rotate to be connected.
As a preferable scheme: the first inclination angle detection device comprises a gyroscope sensor arranged at the center inside the tower body.
As a preferable scheme: the second inclination angle detection device comprises a laser emitting device arranged at a tower tip and a laser receiving device arranged at the front end of the lifting arm, the laser emitting device comprises an adjusting motor and a laser emitter, the adjusting motor is installed on the tower tip, a shell of the laser emitter is fixedly connected with a rotating shaft of the adjusting motor through a connecting portion, the laser emitter faces the laser receiving device, and the motor is connected with a first motor driving module. Compared with the prior art, the technical scheme of the application has the following beneficial technical effects: through the scheme, the deflection torque of the crane boom of the tower crane can be monitored in real time, targeted fine safety assessment and early warning can be performed by combining the tower body inclination angle of the tower crane, the load of the crane boom and the swing angle of the crane boom, the operation safety of the tower crane is greatly improved, and safety accidents are effectively prevented.
Drawings
FIG. 1 is a flow chart of a method according to a first embodiment;
FIG. 2 is a schematic circuit diagram according to a second embodiment;
FIG. 3 is a schematic structural diagram of a crane according to a second embodiment;
FIG. 4 is an enlarged view of portion A of FIG. 3;
fig. 5 is an enlarged view of a portion B in fig. 3.
Description of reference numerals:
1. a base; 2. a tower body; 3. a turntable; 4. a cab; 5. a cargo boom; 6. a balance arm; 7. a lifting hook; 8. a weighing tray; 9. a guide rail; 10. a balancing weight; 11. connecting blocks; 12. a screw rod; 13. a drive motor; 14. a tower tip; 15. a laser transmitter; 16. a connecting portion; 17. adjusting the motor; 18. a rotating shaft; 19. a laser receiving device; 20. a gyroscope sensor; 21. an angle encoder.
Detailed Description
The first embodiment is as follows:
a safety assessment early warning method for a tower crane is characterized by comprising the following steps:
s1, selecting tower body inclination angles of a plurality of groups of tower cranes, establishing corresponding relations between crane boom length axes and crane boom deflection torques at different included angles of inclination reference lines for different loads under each group of tower body inclination angles to obtain a corresponding relation table, wherein the included angles are defined as crane boom deflection angles;
the method comprises the steps of building an equal-scale reduced model of the tower crane and using the reduced model to perform a test. Specifically, the method comprises the following steps:
adjusting the tower body of the reduced model to a first inclination angle, determining an inclination datum line of the tower body under the current inclination angle of the tower body, taking a rotating circular surface of the turntable as a reference plane, selecting a point with the lowest height position on the circumferential edge of the circular surface, and connecting the point with the circle center of the circumferential surface, wherein the connecting line is the inclination datum line.
And detecting the current angle of the crane boom by using the inclination datum line as a zero-angle line through an angle encoder arranged on the rotary table, wherein the angle is an included angle between the length axis of the crane boom and the inclination datum line.
Under the condition of a current tower body inclination angle and a first load, swinging the crane boom to different angles, and measuring deflection torque of the crane boom at different swinging angles; the above steps are repeated with the second load and the third load … ….
The above steps are repeated for the first load, second load, and third load … … by changing the tower to the second inclination angle.
Therefore, the corresponding relation among the tower body inclination angle, the crane boom deflection angle, the crane boom load and the crane boom deflection torque is obtained, and a corresponding relation table is obtained.
S2, when the tower crane works, detecting the tower body inclination angle of the tower crane, the crane boom load and the crane boom direction, and calculating the current deflection angle of the crane boom according to the crane boom direction and the direction of the tower body inclination datum line;
the inclination angle of the tower body is detected through the gyroscope sensor, the goods are loaded on the weighing tray, the weight of the goods is weighed, namely the load of the cargo boom, and the swing angle of the cargo boom is detected through the angle encoder. And calculating the current deflection angle of the crane boom according to the orientation of the crane boom and the orientation of the tower body inclination datum line.
S3, according to the current tower body inclination angle, the crane boom deflection angle and the crane boom load, a corresponding deflection torque value is called from the corresponding relation table;
and S4, comparing the deflection torque value with a preset torque early warning value, and generating an early warning signal when the deflection torque value is greater than the torque early warning value.
Therefore, the real-time monitoring and early warning of the deflection torque of the crane boom can be realized, and safety accidents are prevented.
Considering that the boom may tilt up or down in an actual working environment, the tilt up or down changes the yaw torque of the boom under the same load, and therefore, the tilt state of the boom needs to be considered when evaluating the yaw torque.
In this embodiment: correction factors X1 and X2 are respectively set for the boom ascending and descending, wherein X1 is (1+ K theta 1), X2 is (1-K theta 2), K is a constant, and theta 1 is the ascending angle theta 2 of the boom and the descending angle of the boom; the method comprises the steps of detecting the inclination angle of a crane boom when the tower crane works, obtaining a correction factor according to the inclination angle if the crane boom is in an inclined state, multiplying the transferred deflection torque value by the correction factor to obtain a corrected deflection torque value, comparing the corrected deflection torque value with a torque early warning value, and generating an early warning signal when the former is larger than the latter.
In this embodiment: the method comprises the steps of setting a first torque early warning value and a second torque early warning value, wherein the first torque early warning value is smaller than the second torque early warning value, increasing the balance torque by adding a balance weight to a balance arm of the tower crane when the deflection torque is larger than the first torque early warning value, and sending an early warning signal when the deflection torque is larger than the second torque early warning value.
When the deflection torque reaches a first torque early warning value, the balance torque acted on the rotary table by the balance arm is increased by adding the balance weight of the balance arm so as to partially offset or weaken the deflection torque acted on the rotary table by the crane arm, thereby achieving the purposes of protecting the rotary table, improving the safety and reducing unnecessary early warning times; and when the deflection torque cannot be effectively counteracted by the measures, the deflection torque is continuously increased to a second torque early warning value, the deflection torque of the crane arm is larger at the moment, adverse effects can be caused on the rotary table, and the early warning signal is produced at the moment.
As a preferable scheme: when the tower body is in an inclined state, the inclination angle of the tower body is detected in real time when the tower crane works, when the inclination angle of the tower body changes, a new deflection torque value is obtained according to the current inclination angle of the tower body, the orientation of a cargo boom and the load, the new deflection torque value is compared with a torque early warning value, and an early warning signal is generated when the current deflection torque value is larger than the torque early warning value.
Example two:
a tower crane safety assessment early warning system includes:
the first inclination angle detection device is used for detecting the inclination direction and the inclination angle of the tower body 2 of the tower crane and outputting a detection result;
referring to fig. 3, the first inclination angle detecting means in the present embodiment includes a gyro sensor 20 installed at the inner center of the tower body 2, and the gyro sensor 20 outputs corresponding angle and direction information when the tower body 2 is inclined.
A rotation angle detection device for detecting the angular position of the boom 5 and the angle by which the boom 5 rotates, and outputting the detection result;
referring to fig. 3, the turned angle detection device in this embodiment is angle encoder 21, and angle encoder 21 is installed in 3 bottoms of revolving stage and is connected with 3 transmissions of revolving stage, can drive angle encoder 21 synchronous rotations when revolving stage 3 rotates to change the angle value of angle encoder 21 output, can learn the angle that jib boom 5 rotated through the change of angle value.
A load detection device for detecting the load of the boom 5 and outputting a detection result;
referring to fig. 4, the load detection device in the present embodiment is a weighing tray 8, and the weighing tray 8 is connected to the lifting hook 7 of the boom 5 by a cable. When the goods are stacked on the weighing tray 8, the weighing tray 8 outputs weight information of the goods.
And the control device is connected with the first inclination angle detection device, the rotation angle detection device and the load detection device, is used for receiving detection results output by the first inclination angle detection device, the rotation angle detection device and the load detection device, calculates a deflection angle of the crane boom 5 according to the inclination angle of the tower body 2 and the angle position of the crane boom 5, matches the current deflection torque of the crane boom 5 according to the load of the crane boom 5, compares the deflection torque of the crane boom 5 with a torque early warning value, and generates an early warning signal when the current deflection torque is larger than the torque early warning value.
Referring to fig. 2, the control device in this embodiment includes a main control module, and further includes a signal acquisition module, an alarm module, a first motor driving module, a second motor driving module, an alarm module, a communication module, and a power module, which are connected to the main control module.
The signal output ends of the gyroscope sensor 20, the angle encoder 21 and the weighing tray 8 are connected with the input end of the signal acquisition module, and the weighing tray 8 and the signal acquisition module can be connected through cables or in a wireless mode (the wireless weighing tray 8 is used).
In this embodiment: the control device is used for matching correction factors according to the upper and lower inclination angles of the crane boom 5, multiplying the adjusted deflection torque value by the correction factors to obtain a corrected deflection torque value, comparing the corrected deflection torque value with a torque early warning value, and generating an early warning signal when the current value is larger than the latter.
Referring to fig. 3 and 5, the second inclination angle detecting device in the present embodiment includes a laser transmitter provided at the tower tip 14 and a laser receiver 19 provided at the front end of the boom 5. The laser emitting device comprises an adjusting motor 17 and a laser emitter 15, the adjusting motor 17 is installed on the tower tip 14, a shell of the laser emitter 15 is fixedly connected with a rotating shaft 18 of the adjusting motor 17 through a connecting portion 16, the laser emitter 15 can be driven to rotate by controlling the rotation of the adjusting motor 17, so that the pitching angle of the laser emitter 15 is adjusted, and the laser emitter 15 faces a laser receiving device 19.
The adjusting motor 17 is connected with the first motor drive module.
The laser transmitter 15 is connected with the main control module, the laser receiving device 19 is connected with the signal sampling module, the main control module sends an instruction signal to the laser transmitter 15, the laser receiver sends out a laser signal, and the laser receiving device 19 outputs a feedback signal to the signal acquisition module after receiving the laser signal.
When the crane arm 5 is unloaded, the laser transmitter 15 is aligned with the laser receiver 19, i.e. the calibration of the laser system is completed. When the crane boom 5 is loaded and operated, the laser receiving device 19 cannot receive the laser signal when the crane boom 5 inclines or declines. When the laser receiver device cannot receive the laser signal, the main control module sends a pulse signal to the adjusting motor 17 to enable the adjusting motor 17 to rotate in a stepping mode, so that the pitching angle of the laser transmitter 15 is adjusted slowly until the laser receiver device 19 receives the laser signal again, the main control module can know the adjusting angle of the laser transmitter 15 by counting the number of the pulse signals and combining the step length of the adjusting motor 17, and the angle is considered as the inclination angle of the crane boom 5. The detection mode can comprehensively detect the inclination angle of the crane arm 5 and the inclination angle caused by the bending of the crane arm 5, and the detection result is more matched with the actual situation.
In this embodiment: still include counter weight adjustment mechanism, counter weight adjustment mechanism includes and installs guide rail 9 on balance arm 6 along the length direction of balance arm 6, the balancing weight 10 is equipped with on the guide rail 9, balancing weight 10 slides with guide rail 9 and is connected and can follow the length direction of guide rail 9 and make a round trip to slide, still be equipped with driving motor 13 on the compensating beam, driving motor 13's output shaft coaxial coupling has lead screw 12, lead screw 12 is on a parallel with guide rail 9, lead screw 12 pass guide rail 9 and with balancing weight 10 threaded connection, be provided with connecting block 11 at the tip of lead screw 12, connecting block 11 is fixed with the compensating beam, the tip and the 11 rotations of connecting block of lead screw 12 are connected. The driving motor 13 rotates to drive the screw rod 12 to synchronously rotate, so that the counterweight block 10 is driven to slide along the guide rail 9, the position of the counterweight block 10 on the balance beam can be adjusted, and the gravity center position of the balance beam is changed. The reaction torque of the balance beam can thus be changed by changing the position of the balance beam, and the deflection torque of the jib 5 can be better counteracted by increasing the reaction torque.
The driving motor 13 is connected with the second motor driving module.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.
Claims (9)
1. A safety assessment early warning method for a tower crane is characterized by comprising the following steps:
s1, selecting tower body inclination angles of a plurality of groups of tower cranes, establishing corresponding relations between crane boom length axes and crane boom deflection torques at different included angles of inclination reference lines for different loads under each group of tower body inclination angles to obtain a corresponding relation table, wherein the included angles are defined as crane boom deflection angles;
s2, when the tower crane works, detecting the tower body inclination angle, the crane boom load and the crane boom orientation of the tower crane, and calculating the current deflection angle of the crane boom according to the crane boom orientation and the orientation of the tower body inclination datum line;
s3, according to the current tower body inclination angle, the crane boom deflection angle and the crane boom load, calling a corresponding deflection torque value from the corresponding relation table;
and S4, comparing the deflection torque value with a preset torque early warning value, and generating an early warning signal when the deflection torque value is greater than the torque early warning value.
2. The safety assessment early warning method for the tower crane according to claim 1, which is characterized in that: correction factors X1 and X2 are respectively set for the boom ascending and descending, wherein X1 is (1+ K theta 1) and X2 is (1-K theta 2), wherein K is a constant, and theta 1 is the ascending angle theta 2 of the boom and is the descending angle of the boom; detecting the inclination angle of a crane boom when the tower crane works, if the crane boom is in an inclined state, acquiring a correction factor according to the inclination angle, multiplying the transferred deflection torque value by the correction factor to obtain a corrected deflection torque value, comparing the corrected deflection torque value with a torque early warning value, and generating an early warning signal when the former is larger than the latter.
3. The safety assessment early warning method for the tower crane according to claim 1, which is characterized in that: and setting a first torque early warning value and a second torque early warning value, wherein the first torque early warning value is smaller than the second torque early warning value, increasing the balance torque by adding a counterweight to a balance arm of the tower crane when the deflection torque is larger than the first torque early warning value, and sending an early warning signal when the deflection torque is larger than the second torque early warning value.
4. The safety assessment early warning method for the tower crane according to claim 1, which is characterized in that: when the tower body is in an inclined state, the inclination angle of the tower body is detected in real time when the tower crane works, when the inclination angle of the tower body changes, a new deflection torque value is obtained according to the current inclination angle of the tower body, the orientation of a crane arm and the load, the new deflection torque value is compared with a torque early warning value, and an early warning signal is generated when the current deflection torque value is larger than the torque early warning value.
5. A tower crane safety assessment early warning system, characterized by includes:
the first inclination angle detection device is used for detecting the inclination direction and the inclination angle of the tower body of the tower crane and outputting a detection result;
the rotation angle detection device is used for detecting the angular position of the crane boom and the rotated angle of the crane boom and outputting a detection result;
the load detection device is used for detecting the load of the crane boom and outputting a detection result;
and the control device is connected with the first inclination angle detection device, the rotation angle detection device and the load detection device, is used for receiving detection results output by the first inclination angle detection device, the second inclination angle detection device and the load detection device, calculates the deflection angle of the cargo boom according to the inclination angle of the tower body and the angular position of the cargo boom, matches the current deflection torque of the cargo boom according to the load of the cargo boom, compares the deflection torque of the cargo boom with a torque early warning value, and generates an early warning signal when the current deflection torque is larger than the torque early warning value.
6. The tower crane safety assessment early warning system of claim 5, characterized in that: the control device is used for matching correction factors according to the upper and lower inclination angles of the cargo boom, multiplying the adjusted deflection torque value by the correction factors to obtain a corrected deflection torque value, comparing the corrected deflection torque value with a torque early warning value, and generating an early warning signal when the current value is larger than the latter value.
7. The tower crane safety assessment early warning system according to claim 5, wherein: still include counter weight adjustment mechanism, adjustment mechanism includes and installs the guide rail on the balance arm along the length direction of balance arm, be equipped with the balancing weight on, the balancing weight slides with the guide rail and is connected and can follow the length direction of guide rail and make a round trip to slide, still be equipped with driving motor on the balance beam, driving motor's output shaft coaxial coupling has the lead screw, the lead screw is on a parallel with the guide rail, the lead screw pass the guide rail and with balancing weight threaded connection, the tip of lead screw is provided with the connecting block, the piece is fixed with the balance beam, tip and connecting block rotate to be connected.
8. The tower crane safety assessment early warning system according to claim 5, wherein: the first inclination angle detection device comprises a gyroscope sensor arranged at the center inside the tower body.
9. The tower crane safety assessment early warning system according to claim 5, wherein: the second inclination angle detection device comprises a laser emitting device arranged at a tower tip and a laser receiving device arranged at the front end of the lifting arm, the laser emitting device comprises an adjusting motor and a laser emitter, the adjusting motor is installed on the tower tip, a shell of the laser emitter is fixedly connected with a rotating shaft of the adjusting motor through a connecting portion, the laser emitter faces the laser receiving device, and the motor is connected with a first motor driving module.
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| CN202210810176.8A CN115092839A (en) | 2022-07-11 | 2022-07-11 | Safety assessment early warning method and system for tower crane |
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| CN202210810176.8A CN115092839A (en) | 2022-07-11 | 2022-07-11 | Safety assessment early warning method and system for tower crane |
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