CN116281664B - Crawler crane bearing device based on SPMT and control system - Google Patents
Crawler crane bearing device based on SPMT and control system Download PDFInfo
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- CN116281664B CN116281664B CN202310204447.XA CN202310204447A CN116281664B CN 116281664 B CN116281664 B CN 116281664B CN 202310204447 A CN202310204447 A CN 202310204447A CN 116281664 B CN116281664 B CN 116281664B
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- 238000010586 diagram Methods 0.000 description 5
- 239000000725 suspension Substances 0.000 description 3
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Classifications
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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
- B66C23/36—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 mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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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
-
- 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
- B66C23/62—Constructional features or details
-
- 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
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/74—Counterweights or supports for balancing lifting couples separate from jib
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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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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to an SPMT-based crawler crane bearing device and a control system. The crawler crane carrying device based on the SPMT comprises a self-propelled module carrier; and set up in the counter weight subassembly on the self-propelled module transport vechicle, the counter weight subassembly includes: the frame, the frame is fixed on the self-propelled module transport vechicle, be provided with the tray bed board in the frame, be provided with the removal bracket on the tray bed board, be equipped with super-lift tray on the removal bracket, be equipped with a plurality of balancing weights on the super-lift tray. The crawler crane bearing device based on the SPMT and the control system can assist the crane to move.
Description
Technical Field
The application relates to the field of cranes, in particular to an SPMT-based crawler crane bearing device and a control system.
Background
In order to meet the space installation requirement of large-scale structure construction, the crane participating in hoisting operation needs larger operation radius and main arm length, a large number of super-lifting counterweights are loaded at the moment to ensure that the hoisting capacity of the crane meets the requirement, and under some extreme working conditions, the super-lifting counterweights can cause that the super-lifting tray of the crane cannot be separated from the ground, so that the crane cannot move, and only the crane with higher tonnage can be replaced at the moment, so that the use flexibility of the crane is seriously influenced and the project cost is increased.
Disclosure of Invention
In view of the above, the present application provides an SPMT-based crawler loading device and a control system, which can assist in crane movement.
The application provides a crawler crane bears device based on SPMT for supplementary hoist removes, include:
a self-propelled modular transport vehicle; and a counterweight assembly arranged on the self-propelled modular transport vehicle,
the counterweight assembly includes: the frame, the frame is fixed on the self-propelled module transport vechicle, be provided with the tray bed board in the frame, be provided with the removal bracket on the tray bed board, be equipped with super-lift tray on the removal bracket, be equipped with a plurality of balancing weights on the super-lift tray.
Further, the frame includes a first connection portion, a second connection portion, a third connection portion, and a fourth connection portion;
the first connecting part, the second connecting part, the third connecting part and the fourth connecting part are sequentially connected end to form a frame, the second connecting part is provided with a first surface, the fourth connecting part is provided with a second surface, the first surface and the second surface are provided with connecting pieces, and the connecting pieces fix the frame on the self-propelled module carrier;
the frame has a cavity portion provided with a reinforcing plate.
Further, the crawler carrying device based on SPMT further comprises: a teflon plate;
the Teflon board is fixed set up in on the tray deck, the Teflon board set up in the tray deck with remove between the bracket, the Teflon board includes the rectangle Teflon slider of a plurality of concatenation.
Further, anti-collision pieces are arranged around the pallet planking.
Further, the SPMT-based crawler carrying device further comprises lifting lugs, and the lifting lugs are arranged on the movable bracket and the frame.
The application also provides a control system for controlling the SPMT-based crawler carrying device, comprising:
the ultrasonic sensor is used for sending out a first signal and receiving a second signal fed back by a tested object receiving the first signal so as to judge the distance of an obstacle;
the visual sensor is used for acquiring an image and converting the image into first data;
the control system is used for acquiring the second signal and the first data; and based on the second signal and the first data:
determining the distance between the bearing device and surrounding obstacles according to the second signal and the first data;
when the distance between the bearing device and the surrounding obstacle is relatively close, the controller controls the execution of a pause mode.
Further, in the pause mode, the controller controls the SPMT-based crawler carriage to stop moving.
Further, the control system further includes: the photoelectric sensor is used for sending out a third signal, receiving a second signal fed back by the tested object when the tested object receives the first signal, and detecting whether the movable bracket moves out of a preset area.
Further, a mode one and a mode two are preset in the controller;
the first mode is a fine adjustment mode, in which the vision sensor works, the first data are obtained and sent to the controller, and the ultrasonic sensor and the photoelectric sensor stop working;
the second mode is a following mode; in a second mode, the ultrasonic sensor and the photoelectric sensor work normally, the ultrasonic sensor acquires a second signal, and the photoelectric sensor acquires a fourth signal; the vision sensor stops working.
Further, the crane has a crane control system;
the crane control system includes: and the controller acquires the movement data and controls the crawler crane carrying device based on the SPMT to move along with the crane through the movement data.
The SPMT-based crawler crane bearing device of the device supports the super-lift arm by being arranged below the super-lift arm of the crane, so that the problem that the super-lift tray cannot be lifted off the ground under the extreme working condition of the crane is solved; the device can follow the movement or rotation of the crane through the self-propelled module carrier vehicle so as to realize the rotation or movement of the crane under extreme working conditions, and the counterweight assembly arranged on the self-propelled module carrier vehicle can still move in a small range under the condition that the self-propelled module carrier vehicle does not move.
Drawings
In order to more clearly illustrate the technical solutions of the examples of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an SPMT-based crawler carrying device according to an embodiment of the present application;
fig. 2 is an exploded view of an SPMT-based crawler carrying device according to an embodiment of the present disclosure;
fig. 3 is a second angle diagram of the SPMT-based crawler carrying device according to the embodiments of the present application;
fig. 4 is a schematic structural diagram of a detection range of a photoelectric sensor according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of another view angle of the SPMT-based crawler carrier according to the embodiment of the present application;
fig. 6 is a reference diagram of a usage state of the SPMT-based crawler carrier according to the embodiment of the present application;
fig. 7 is an enlarged view taken along a in fig. 6.
Reference numerals illustrate:
100. a carrying device; 10. a self-propelled modular transport vehicle; 20. a counterweight assembly; 21. a frame; 211. a first connection portion; 212. a second connecting portion; 2121. a first surface; 213. a third connecting portion; 214. a fourth connecting portion; 2141. a second surface; 214. a cavity portion; 22. the tray is paved; 23. a moving bracket; 24. a superlift tray; 25. balancing weight; 26. a teflon plate; 27. an anti-collision member; 28. lifting lugs; 29. a connecting piece; 30. an ultrasonic sensor, 40, a visual sensor; 50. a photoelectric sensor; 60. and (5) a crane.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without undue burden, are within the scope of the present application.
The terms first, second and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" or "an implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment or implementation may be included in at least one embodiment of the present application. 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.
At present, with the continuous progress of China's offshore oil development to the deep water field, the ocean engineering structure is gradually developed to the deep water and the large-scale. Compared with the traditional ocean engineering structure, the large ocean structure has the characteristics of large volume, high weight and complex structure, so that a large amount of high-tonnage hoisting operation is required to be executed in the construction process.
In order to meet the space requirement of large-scale structure construction, the crane participating in hoisting operation needs larger operation radius and main arm length, a large number of super-lifting counterweights are additionally arranged at the moment to ensure that the lifting capacity of the crane meets the requirement, and under certain extreme working conditions, the super-lifting counterweights of the crane cannot leave the ground, so that the crane cannot move, and at the moment, only the crane with higher tonnage can be replaced or the number of the super-lifting counterweights can be adjusted, so that the use flexibility of the crane is seriously influenced, the construction efficiency is influenced, and the project cost is increased.
In view of this, the present embodiment provides a crawler carrying device and a control system based on SPMT, where the crawler carrying device and the control system based on SPMT can assist in crane movement.
Referring to fig. 1, an SPMT-based crawler loading device 100 for assisting a crane 60 to move includes: a self-propelled modular transport vehicle 10; and a weight assembly 20 provided on the self-propelled modular transport vehicle 10, the weight assembly 20 comprising: the frame 21, the frame 21 is fixed on the self-propelled module transport vechicle 10, be provided with tray deck 22 in the frame 21, be provided with the removal bracket 23 on the tray deck 22, be equipped with super-lift tray 24 on the removal bracket 23, be equipped with a plurality of balancing weights 25 on the super-lift tray 24.
The SPMT-based crawler crane bearing device 100 of the device supports the super-lift arm by being arranged below the super-lift arm of the crane 60, so as to solve the problem that the super-lift tray 24 cannot be lifted off the ground under the extreme working condition of the crane 60; the device can follow the movement or rotation of the crane 60 through the self-propelled module carrier vehicle 10 so as to realize the rotation or movement of the crane 60 under extreme working conditions, and the counterweight assembly 20 arranged on the self-propelled module carrier vehicle 10 can still move in a small range under the condition that the self-propelled module carrier vehicle 10 does not move, so that the device improves the flexibility of the crane 60 and enables the crane 60 to work normally under extreme working conditions.
Referring to fig. 2, in some embodiments, the frame 21 includes a first connecting portion 211, a second connecting portion 212, a third connecting portion 213, and a fourth connecting portion 214; the first connecting portion 211, the second connecting portion 212, the third connecting portion 213 and the fourth connecting portion 214 are connected end to end in sequence to form a frame 21, the second connecting portion 212 has a first surface 2121, the fourth connecting portion 214 has a second surface 2141, the first surface 2121 and the second surface 2141 are provided with connecting pieces 29, and the connecting pieces 29 fix the frame 21 on the self-propelled module transporter 10; the frame 21 has a cavity portion 214, and the cavity portion 214 is provided with a reinforcing plate.
It can be understood that the frame 21 is formed by connecting the first connecting portion 211, the second connecting portion 212, the third connecting portion 213 and the fourth connecting portion 214 end to end, and by welding, the end to end of the frame 21 makes the interior of the frame 21 have a cavity portion 214, the cavity portion 214 is used for limiting the movement of the moving bracket 23, and at the same time, a reinforcing plate is also provided on the cavity portion 214, specifically, the reinforcing plate is provided on the first connecting portion 211, the second connecting portion 212, the third connecting portion 213 and the fourth connecting portion 214, so as to enhance the structural strength of the frame 21, and when the bracket moves in the frame 21, the frame 21 can better limit the bracket; the frame 21 is connected to the self-propelled module carrier 10 through a connecting plate, specifically, through holes are formed in side plates of the frame 21, through holes are formed in two sides of the self-propelled module carrier 10, through holes respectively connected with the frame 21 and the self-propelled module carrier 10 are formed in the connecting plate, and the two through holes are connected through bolts, so that the connection between the self-propelled module carrier 10 and the frame 21 is realized.
In some embodiments, the SPMT-based crawler load bearing apparatus 100 further comprises: teflon plate 26; the teflon plate 26 is fixedly arranged on the tray deck 22, the teflon plate 26 is arranged between the tray deck 22 and the movable bracket 23, and the teflon plate 26 comprises a plurality of spliced rectangular teflon sliding blocks.
It will be appreciated that the teflon plate 26 is formed by molding polytetrafluoroethylene resin at normal temperature, sintering and cooling, and has a low friction coefficient, so that the teflon plate can slide relative to an object; specifically, in this scheme, teflon plate 26 is made up of a plurality of rectangular teflon slides, there is about 50mm piece between the slides, fix on tray deck 22 through spot welding, and teflon plate 26 upper surface is coated with lubricant, oily piece and protection film etc. when using, and the removal bracket that sets up on teflon plate 26 upper surface can be moved on teflon plate 26 to reduce the frictional force between removal bracket 23 and the teflon plate 26.
Referring to fig. 3-7, in some embodiments, bumper members 27 are mounted around the pallet deck 22.
It will be appreciated that the anti-collision member 27 provided on the pallet deck 22 serves to protect the frame 21, the anti-collision member 27 abuts against the frame 21, the movable bracket provided on the teflon plate 26 is prevented from being movable within the frame 21, and when the movable bracket 23 moves to the edge of the frame 21 or collides with the frame 21, damage caused by collision is reduced, and rigid collision of the two is changed into elastic collision, so that damage to the frame 21 is reduced, and the protection effect of the frame 21 is promoted.
In some embodiments, the SPMT-based crawler carrier 100 further includes a lifting lug 28, the lifting lug 28 being disposed on the mobile carriage 23 and the frame 21.
It will be appreciated that the lifting lugs 28 are prefabricated by steel plates through cutting, machining and other procedures, the lifting lugs 28 are mounted on the outer side of the frames 21, 4 lifting lugs 28 are mounted on each frame 21, the lifting lugs 28 are distributed in a symmetrical mode in pairs, the lifting lugs 28 are used for being connected with the crane 60, and the frames 21 and the movable brackets 23 are convenient to mount and dismount.
The present application further provides a control system for controlling the SPMT-based crawler carrier device 100, including: the ultrasonic sensor 30 is used for sending out a first signal and receiving a second signal fed back by the tested object receiving the first signal so as to judge the distance of the obstacle; a vision sensor 40, the vision sensor 40 being configured to acquire an image and convert the image into first data; the control system is used for acquiring the second signal and the first data; and based on the second signal and the first data: determining the distance between the bearing device and surrounding obstacles according to the second signal and the first data; when the distance between the bearing device and the surrounding obstacle is relatively close, the controller controls the execution of a pause mode.
It can be appreciated that the ultrasonic sensor 30 sends the second signal to the controller after acquiring the second signal of the distance between the carrier and the surrounding obstacle, the vision sensor 40 sends the first data to the controller after acquiring the first data generated by the image information, the controller determines whether the carrier advances based on the second signal and the first data, the ultrasonic sensor 30 is used for detecting the position of the moving bracket, and when the moving bracket is closer to the frame, the movement of the self-propelled modular transport vehicle 10 is slowed down; the vision sensor 40 is used for capturing image signals of the crane 60 action; the self-propelled modular transport vehicle 10 has a travel control unit for controlling the movement of the self-propelled modular transport vehicle 10.
In some embodiments, in the suspension mode, the controller controls the SPMT-based crawler carrier 100 to stop moving, the suspension mode is a protection mode of the carrier, and in the suspension mode, the carrier can still control the controller to move by manual operation to adjust the position of the carrier, so as to ensure smooth construction.
In some embodiments, a mode one and a mode two are preset in the controller; the first mode is a fine tuning mode, in which the vision sensor 40 operates, and the first data is acquired and sent to the controller, and the ultrasonic sensor 30 and the photoelectric sensor 50 stop operating; the second mode is a following mode; in the second mode, the ultrasonic sensor 30 and the photoelectric sensor 50 work normally, and the ultrasonic sensor 30 acquires a second signal and the photoelectric sensor 50 acquires a fourth signal; the vision sensor 40 stops working.
It can be understood that the first mode and the second mode are preset in the controller, the first mode is a following mode, when the crane 60 needs to perform a displacement action, the following mode can be selected, at this time, the vision sensor 40 on the device is started, the vision sensor 40 captures an image signal of the crane 60 action in real time, the image signal is transmitted to the controller for performing an identification operation, and then the controller sends a displacement command of the self-propelled module carrier 10 to a walking control unit of the self-propelled module carrier 10 through the signal sending device and the signal receiving device, so that the self-propelled module carrier 10 performs a corresponding following action, and moves synchronously with the crane 60, so as to improve the quick movement capability of the bearing device.
The second mode is a fine tuning mode, when the crane 60 enters the construction position, the crane 60 does not perform a large-scale displacement action, at this time, the fine tuning mode of the entering device can be selected, in this mode, the ultrasonic sensor 30 installed around the tray monitors the movement condition of the moving bracket above the tray along with the crane 60 in real time, meanwhile, the photoelectric sensor 50 detects whether the moving bracket exceeds a preset range, when the photoelectric sensor 50 exceeds a limited movement range, the controller sends an alarm signal to the audible and visual alarm to trigger the audible and visual alarm, meanwhile, the adjusting action of the self-propelled module carrier vehicle 10 is calculated through a preset algorithm in the control and an action command is sent to a walking control unit of the self-propelled module carrier vehicle, then the self-propelled module carrier vehicle 10 can perform a corresponding fine tuning action according to the controller, when the moving bracket is returned to the limited area along with the adjustment of the self-propelled module carrier vehicle 10, the ultrasonic sensor 30 does not detect an obstacle, and the fine tuning action of the self-propelled module carrier vehicle stops, so that the moving efficiency and moving accuracy of the carrying device are improved. It should be noted that in the following mode, the moving speed of the carrying device is also increased; by presetting a mode one and a mode two in the controller to adapt to the moving speed and the response capability of the bearing device under different working conditions,
in some embodiments, the crane 60 has a crane 60 control system, the crane 60 control system comprising: and the controller acquires the movement data and controls the SPMT-based crawler carrying device 100 to move along with the crane 60 through the movement data.
It can be appreciated that the crane 60 also has a crane control system, specifically, the crane 60 control system can acquire current movement data of the crane 60 and communicate with the controller, and the controller controls the bearing device to move along with the crane 60 after receiving the movement data of the crane 60; the movement data corresponds to an activation signal, if the crane 60 is not operated for a certain period of time, the carrying device enters the standby mode, and only the controller is kept to operate so as to reduce the energy consumption of the carrying device, and when the crane 60 is operated again, the crane 60 sends the movement data to the controller to activate the carrying device, so that the carrying device enters the operating state.
In some embodiments, the control system further comprises: the photoelectric sensor 50 is configured to send out a third signal, and receive a fourth signal fed back by the object to be tested when receiving the third signal, and detect whether the moving bracket 23 moves out of a preset area.
It will be appreciated that the photoelectric sensor 50 is configured to detect whether the mobile carriage slides out of the preset position, and when the photoelectric sensor 50 detects that the mobile carriage slides out of the preset position, a fourth signal is generated and transmitted to the controller, and the controller controls the self-propelled modular transport vehicle 10 to stop moving.
It will be appreciated that the ultrasonic sensors 30 are provided on the frame 21, in particular, at the four corners of the frame 21, for detecting whether there is an obstacle around the self-propelled modular transport vehicle 10 and the distance from the obstacle; the photoelectric sensor 50 is arranged on two opposite side plates of the frame 21; the vision sensor 40 is also provided at one side of the frame 21, and is mainly used for photographing image information of the movement of the crane 60.
When the self-propelled module carrier 10 is used, firstly, the self-propelled module carrier 10 is in place, then the frame 21, the tray deck 22, the Teflon plates 26 and the movable brackets 23 are arranged at the appointed positions on the self-propelled module carrier 10 through the lifting lugs 28 by a small-sized lifting vehicle, and the frame 21 is firmly connected through the butting device and is fixed on the self-propelled module carrier 10 through the bolt connecting plates; uniformly coating special lubricant, oily scraps, a protective film and the like on the Teflon plate 26; placing the mobile carriage in a designated position over teflon plate 26; after the super-lifting counterweight tray is firmly connected with the super-lifting arm of the crane 60, the super-lifting counterweight tray is centrally placed above the movable bracket; adding a super-lifting balancing weight 25 above the super-lifting balancing weight tray according to the recent heaviest lifting task of the crane 60, wherein the balancing weight 25 is loaded according to the principle of symmetrical loading and uniform distribution, so that the balance of the super-lifting tray 24 is ensured; after all the components are installed and checked, the power supply is turned on, and the ultrasonic sensor 30, the visual sensor 40 and the photoelectric sensor 50 are all started and the system is initialized.
When the super-lift counterweight is too heavy or the suspended structure is too light, and the super-lift counterweight tray has a tendency of being unable to leave the ground, the redundant counterweight weight can be borne by the self-propelled module carrier vehicle 10, and the corresponding mode is selected according to the action requirement of the crane 60, so that the normal operation of the crane 60 is ensured.
When the crane 60 needs to perform a displacement action, a following mode can be selected above the control panel, at this time, the vision sensor 40 on the device is started, the vision sensor 40 captures an image signal of the action of the crane 60 in real time, the image signal is transmitted to the controller for recognition operation, and then the controller sends a displacement command of the self-propelled module carrier 10 to a walking control unit of the self-propelled module carrier 10 through the signal sending device and the signal receiving device, so that the self-propelled module carrier 10 performs a corresponding following action and moves synchronously with the crane 60.
When the crane 60 enters the construction position, the crane 60 does not perform a large displacement motion any more, and at this time, the fine adjustment mode of the entering device can be selected. In this mode, the viewpoint fine adjustment mode is started, the ultrasonic sensor 30 mounted around the tray monitors the movement condition of the movable bracket above the tray along with the crane 60 in real time, when the movable bracket exceeds the limited movement range, the photoelectric sensor detects the existence of an obstacle and sends a signal to the controller, the controller sends an alarm signal to the audible and visual alarm to trigger the audible and visual alarm, meanwhile, the adjustment action of the self-propelled module transporter 10 is calculated through the preset algorithm in the control and an action command is sent to the walking control unit of the self-propelled module transporter, then the self-propelled module transporter 10 can perform corresponding fine adjustment action according to the controller, when the movable bracket returns to the limited area along with the adjustment of the self-propelled module transporter 10, the ultrasonic sensor 30 does not detect the obstacle any more, and the fine adjustment action of the self-propelled module transporter is stopped.
The ultrasonic sensor is opened in the whole course of the device operation process, when personnel or other obstacles exist nearby in the device operation process, 8 groups of ultrasonic sensors are arranged in different directions, the time required for the ultrasonic waves to encounter the obstacles and reflect back to the module is obtained, the distance from the device is calculated through the algorithm operation of the controller, when the distance is smaller than a system set value, the controller sends a stop command to the controller of the self-propelled module transport vehicle 10, and simultaneously sends an alarm signal to the audible and visual alarm to remind relevant operators, at the moment, the emergency braking of the travelling module transport vehicle is stopped, and the device achieves the obstacle avoidance function.
Reference in the present application to "an embodiment," "implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments. Furthermore, it should be understood that the features, structures, or characteristics described in the embodiments of the present application may be combined arbitrarily without any conflict with each other to form yet another embodiment without departing from the spirit and scope of the present application.
Finally, it should be noted that the above embodiments are merely for illustrating the technical solution of the present application and not for limiting, and although the present application has been described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or equivalent replaced without departing from the spirit and scope of the technical solution of the present application.
Claims (3)
1. A control system for controlling an SPMT-based crawler carrier, the crawler carrier for assisting crane movement comprising:
a self-propelled modular transport vehicle;
and set up in the counter weight subassembly on the self-propelled module transport vechicle, the counter weight subassembly includes: the frame is fixed on the self-propelled module transport vehicle, a tray deck is arranged in the frame, a movable bracket is arranged on the tray deck, a super-lifting tray is arranged on the movable bracket, and a plurality of balancing weights are arranged on the super-lifting tray;
the frame comprises a first connecting part, a second connecting part, a third connecting part and a fourth connecting part; the first connecting part, the second connecting part, the third connecting part and the fourth connecting part are sequentially connected end to form a frame, the second connecting part is provided with a first surface, the fourth connecting part is provided with a second surface, the first surface and the second surface are provided with connecting pieces, and the connecting pieces fix the frame on the self-propelled module carrier; the frame is provided with a cavity part, and the cavity part is provided with a reinforcing plate;
the crawler crane bearing device based on SPMT further comprises: the Teflon plate is fixedly arranged on the tray deck, is arranged between the tray deck and the movable bracket and comprises a plurality of spliced rectangular Teflon sliding blocks; anti-collision pieces are arranged around the pallet planking;
the crawler crane bearing device based on the SPMT further comprises lifting lugs, wherein the lifting lugs are arranged on the movable bracket and the frame;
the control system includes:
the ultrasonic sensor is used for sending out a first signal and receiving a second signal fed back by a tested object receiving the first signal so as to judge the distance of an obstacle;
the visual sensor is used for acquiring an image and converting the image into first data;
the control system is used for acquiring the second signal and the first data; and based on the second signal and the first data:
determining the distance between the bearing device and surrounding obstacles according to the second signal and the first data;
when the distance between the bearing device and the surrounding obstacle is relatively close, the controller controls the execution of a pause mode;
in the pause mode, the controller controls the SPMT-based crawler carrying device to stop moving;
the control system further includes: the photoelectric sensor is used for sending out a third signal, receiving a second signal fed back by the tested object when the tested object receives the first signal, and detecting whether the movable bracket moves out of a preset area.
2. The control system of claim 1, wherein a mode one and a mode two are preset in the controller;
the first mode is a fine adjustment mode, in which the vision sensor works, the first data are obtained and sent to the controller, and the ultrasonic sensor and the photoelectric sensor stop working;
the second mode is a following mode; in a second mode, the ultrasonic sensor and the photoelectric sensor work normally, the ultrasonic sensor acquires a second signal, and the photoelectric sensor acquires a fourth signal; the vision sensor stops working.
3. The control system of claim 1, wherein the crane has a crane control system;
the crane control system includes: and the controller acquires the movement data and controls the crawler crane carrying device based on the SPMT to move along with the crane through the movement data.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310204447.XA CN116281664B (en) | 2023-03-06 | 2023-03-06 | Crawler crane bearing device based on SPMT and control system |
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| CN202310204447.XA CN116281664B (en) | 2023-03-06 | 2023-03-06 | Crawler crane bearing device based on SPMT and control system |
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| CN116281664B true CN116281664B (en) | 2024-01-23 |
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