CN116513965A - Control method and system for dynamic load balance in whole process of tower crane jacking - Google Patents
Control method and system for dynamic load balance in whole process of tower crane jacking Download PDFInfo
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- CN116513965A CN116513965A CN202310636912.7A CN202310636912A CN116513965A CN 116513965 A CN116513965 A CN 116513965A CN 202310636912 A CN202310636912 A CN 202310636912A CN 116513965 A CN116513965 A CN 116513965A
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- jacking
- tower crane
- upper structure
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 230000008569 process Effects 0.000 title claims abstract description 37
- 230000009194 climbing Effects 0.000 claims abstract description 18
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 230000008859 change Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing 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
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/26—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
- B66C23/28—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail constructed to operate at successively higher levels
-
- 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
-
- 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]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a control method for dynamic load balance in the whole process of tower crane jacking, which is executed by a main controller and comprises the following steps: s1, positioning a standard section to an introduction device; s2, acquiring a current output moment value I of a joint of the top of the tower body and the upper structure; s3, judging whether the current moment value I is smaller than or equal to an allowable value, if so, jacking to a specified position; s4, acquiring a current moment value II of the joint of the climbing frame and the upper structure; s5, judging whether the current moment value II is smaller than or equal to an allowable value, if so, judging whether the standard section is introduced into place, and if so, lifting the oil cylinder in place, and enabling the upper structure to fall into place to complete the lifting process. The invention also discloses a control system for dynamic load balance in the whole jacking process of the tower crane. The load of the whole jacking process of the tower crane is output in real time and regulated by adopting a plurality of groups of pin shaft sensor groups, so that the dynamic balancing control of the whole jacking process is realized.
Description
Technical Field
The invention relates to a method and a system for controlling dynamic load balance in the whole process of tower crane jacking, and belongs to the technical field of tower crane jacking balance.
Background
The moment balancing problem in the jacking process of the tower crane is important, whether balancing is carried out or not directly influences the safety problem of jacking operation, if the balancing is not carried out lightly, a damage mechanism reduces the structural strength of the tower crane, and if the balancing is carried out lightly, the whole crane is overturned, the life safety of operators is endangered, and meanwhile, huge economic loss is brought. For a large-tonnage tower crane, the position of the introduced standard knot in the jacking process has an important influence on the balancing moment, and the influence of the introduced standard knot on the balancing moment needs to be considered for ensuring the smooth and safe jacking operation.
The existing jacking balancing mode of the tower crane mainly depends on manual operation control, balancing weight and balancing amplitude are selected according to balancing moment of a specific model, and then the precision is low and no specific quantization mode exists according to experience of operators or corresponding adjustment of simple auxiliary equipment entries such as a inclinometer;
firstly, selecting balancing weight and balancing amplitude by means of balancing moment of a specific model, and then correspondingly adjusting according to experience of operators or simple auxiliary equipment items such as an inclinometer, wherein the precision is low and no specific quantitative form exists;
secondly, the problem that the influence of the introduction of the standard section on the balancing is not considered in the jacking balancing of the tower crane.
Disclosure of Invention
The invention aims to provide a control method and a system for dynamic load balance in the whole jacking process of a tower crane, which are used for solving the defects that the accuracy is low and no specific quantitative form exists in the prior art mainly by means of manual operation control and corresponding adjustment is performed according to experience of operators or by means of simple auxiliary equipment such as an inclinometer.
A method for controlling dynamic load balancing in the whole process of jacking a tower crane, which is executed by a main controller, the method comprising:
s1, positioning a standard section to an introduction device;
s2, acquiring a current output moment value I of a joint of the top of the tower body and the upper structure;
s3, judging whether the current moment value I is smaller than or equal to an allowable value, if so, jacking to a specified position;
s4, acquiring a current moment value II of the joint of the climbing frame and the upper structure;
s5, judging whether the current moment value II is smaller than or equal to an allowable value, if so, judging whether the standard section is introduced into place, and if so, lifting the oil cylinder in place, and enabling the upper structure to fall into place to complete the lifting process.
Further, judging whether the current moment value is smaller than or equal to the allowable value, if so, selecting whether to start lifting, and if so, starting to automatically adjust the lifting position of the tower crane.
Further, judging whether the automatic movement amount is larger than an allowable value;
if the automatic movement amount is larger than the allowable value, whether the operation is continued or not is confirmed, if the operation is continued, the operation returns to the step S2, and if the operation is finished, the operation is switched to the manual mode.
Further, it is determined whether the automatic movement amount is greater than the allowable value, and if the automatic movement amount is less than the allowable value, step S2 is executed.
Further, whether the current moment value II is smaller than or equal to an allowable value is judged, if the current moment value II is larger than the allowable value, the crane weight position is started to be automatically adjusted, whether the automatic movement amount exceeds the allowable value is judged, if the current moment value II is smaller than the allowable value, the step S4 is executed, if the current moment value II is larger than the allowable value, the step S4 is executed continuously, and the manual mode is switched to after the selection is finished.
Further, the step S2 includes:
and calculating a real-time moment value I of the upper structure of the tower crane according to the stress value of the measuring point through a sensor group arranged at the joint of the top of the tower body and the upper structure.
Further, the step S4 includes:
and calculating a real-time moment value II of the upper structure of the tower crane according to the stress value of the measuring point through a sensor group arranged at the joint of the climbing frame and the upper structure.
Further, the sensor group at least comprises two pin shaft sensors.
A control system for dynamic balancing of a tower crane jacking overall process load, the system comprising:
the first data acquisition module is used for acquiring a first current output torque value at the joint of the top of the tower body and the upper structure;
the second data acquisition module is used for acquiring a second current output torque value at the joint of the climbing frame and the upper structure;
the signal processing module is used for receiving the signals of the first data acquisition module and the second data acquisition module, amplifying the signals and then sending the amplified signals to the main controller;
the main controller is used for judging whether the current output torque value I acquired by the data acquisition module I and the current output torque value II acquired by the data acquisition module II meet allowable values or not;
and the execution module is used for receiving the instruction of the main controller and controlling the jacking cylinder according to the instruction of the main controller.
Further, the first data acquisition module is a first sensor group installed at the joint of the top of the tower body and the upper structure, and the second data acquisition module is a second sensor group installed at the joint of the climbing frame and the upper structure.
Compared with the prior art, the invention has the beneficial effects that: the invention adopts a plurality of groups of pin roll sensor groups to output and regulate the load of the whole jacking process of the tower crane in real time, thereby realizing the dynamic balancing control of the whole jacking process;
according to the invention, the moment value of the change of the standard joint position is introduced in the jacking process of the tower crane in real time through the sensor group II at the joint of the climbing frame and the upper structure, so that the load dynamic balance in the balancing process is improved;
drawings
FIG. 1 is a flow chart of dynamic load balancing control in the whole process of jacking a tower crane according to the invention;
FIG. 2 is a schematic illustration of a tower machine of the present invention;
fig. 3 is a schematic diagram of the system of the present invention.
Description of the embodiments
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1, a control method for dynamic load balance in the whole process of tower crane lifting is disclosed, and the method is executed by a main controller and comprises the following steps:
s1, positioning a standard section to an introduction device;
s2, acquiring a current output moment value I of a joint of the top of the tower body and the upper structure;
s3, judging whether the current moment value I is smaller than or equal to an allowable value, if so, jacking to a specified position;
s4, acquiring a current moment value II of the joint of the climbing frame and the upper structure;
s5, judging whether the current moment value II is smaller than or equal to an allowable value, if so, judging whether the standard section is introduced into place, and if so, lifting the oil cylinder in place, and enabling the upper structure to fall into place to complete the lifting process.
In this embodiment, this application tower machine is equipped with two round pin axle sensor group, and round pin axle sensor group two are installed in climbing frame and superstructure junction, and round pin axle sensor group one installs tower body top and superstructure junction, and each sensor group can calculate the real-time moment of tower machine superstructure according to the atress value of measurement station. The present application employs two sets of sensor groups but is not limited to two sets. The control method is specifically described with reference to fig. 1:
step 1, when jacking operation is started, positioning a standard section to an introduction device by a tower crane;
step 2, resetting the pin shaft sensor group II, wherein the sensor group II only bears the weight action of the climbing frame;
step 3, selecting balancing weights and balancing amplitudes according to balancing moments of specific models;
step 4, outputting a current moment value I by the pin shaft sensor group I, wherein the sensor group I bears the weight of the whole upper structure;
step 5, judging whether the current moment value is smaller than or equal to the allowable value, and if the current moment value is smaller than the allowable value, selecting whether to start jacking by an operator;
step 6, if the automatic movement amount is larger than the allowable value, the tower crane starts to automatically adjust the hoisting position, whether the automatic movement amount exceeds the allowable value is judged, if the automatic movement amount is smaller than the allowable value, the step 4 is executed, if the automatic movement amount is larger than the allowable value, the operator selects whether to continue, if the operator selects to continue to execute the step 4, and if the operator selects to end, the manual mode is switched;
step 7, if the operator selects to start lifting in the step 5, the controller controls the lifting oil cylinder to start lifting, the lifting oil cylinder is lifted to a designated position, and the standard section starts to be introduced;
step 8, outputting a current moment value II by the pin shaft sensor group II, wherein the sensor group II bears the weight of the whole upper structure; in the embodiment, the moment value of the position change of the standard section is introduced in the jacking process of the tower crane in real time through the second sensor group at the joint of the climbing frame and the upper structure, so that the load dynamic balance in the balancing process is improved;
step 9, judging whether the current moment value II is smaller than or equal to the allowable value, if so, further judging whether the standard knot is in place, and if so, selecting whether to continue to execute the next step by an operator; if the allowable value is larger than the allowable value, the crane starts to automatically adjust the hoisting position;
step 10, judging whether the automatic movement quantity exceeds an allowable value; if the allowable value is smaller than the allowable value, executing the step 8;
if the allowable value is larger than the allowable value, the operator selects whether to continue or not, and if the operator selects to continue to execute the step 8;
if the operator chooses to finish switching to the manual mode;
step 11, resetting the first pin shaft sensor group, wherein the first sensor group does not bear the weight;
and 12, lifting the oil cylinder, wherein the upper structure falls in place, the sensor group 1 bears the weight of the whole upper structure, and the sensor group two only bears the weight of the climbing frame, so that the lifting operation is finished.
The balancing process adopts a mode of combining automatic and manual modes, so that the balancing machine is safe and accurate.
Second aspect:
as shown in fig. 3, the invention also discloses a control system for dynamic load balance in the whole process of tower crane lifting, which comprises:
the first data acquisition module is used for acquiring a first current output torque value at the joint of the top of the tower body and the upper structure;
the second data acquisition module is used for acquiring a second current output torque value at the joint of the climbing frame and the upper structure;
the signal processing module is used for receiving the signals of the first data acquisition module and the second data acquisition module, amplifying the signals and then sending the amplified signals to the main controller;
the main controller is used for judging whether the current output torque value I acquired by the data acquisition module I and the current output torque value II acquired by the data acquisition module II meet allowable values or not;
and the execution module is used for receiving the instruction of the main controller and controlling the jacking cylinder according to the instruction of the main controller.
Further, the first data acquisition module is a first sensor group installed at the joint of the top of the tower body and the upper structure, the second data acquisition module is a second sensor group installed at the joint of the climbing frame and the upper structure, as shown in fig. 2, the second pin sensor group is installed at the joint of the climbing frame and the upper structure, the first pin sensor group is installed at the joint of the top of the tower body and the upper structure, and each sensor group can calculate real-time moment of the upper structure of the tower crane according to the stress value of the measuring point. The present application employs two sets of sensor groups but is not limited to two sets.
In the application, a plurality of groups of pin shaft sensor groups are adopted to output and adjust the load of the whole jacking process of the tower crane in real time, so that the dynamic balancing control of the whole jacking process is realized.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (10)
1. A method for controlling dynamic load balance in the whole process of jacking a tower crane, which is executed by a main controller, and is characterized by comprising the following steps:
s1, positioning a standard section to an introduction device;
s2, acquiring a current output moment value I of a joint of the top of the tower body and the upper structure;
s3, judging whether the current moment value I is smaller than or equal to an allowable value, if so, jacking to a specified position;
s4, acquiring a current moment value II of the joint of the climbing frame and the upper structure;
s5, judging whether the current moment value II is smaller than or equal to an allowable value, if so, judging whether the standard section is introduced into place, and if so, lifting the oil cylinder in place, and enabling the upper structure to fall into place to complete the lifting process.
2. The method for controlling dynamic load balance in the whole process of lifting a tower crane according to claim 1, wherein whether the current moment value is smaller than or equal to an allowable value is judged, whether lifting is started is selected if the current moment value is smaller than the allowable value, and if the current moment value is larger than the allowable value, the crane starts to automatically adjust the lifting position.
3. The method for controlling dynamic load balancing in the whole process of jacking a tower crane according to claim 2, wherein it is determined whether the automatic movement amount is larger than an allowable value;
if the automatic movement amount is larger than the allowable value, whether the operation is continued or not is confirmed, if the operation is continued, the operation returns to the step S2, and if the operation is finished, the operation is switched to the manual mode.
4. The method according to claim 3, wherein it is determined whether the automatic movement amount is greater than an allowable value, and if the automatic movement amount is less than the allowable value, the step S2 is executed.
5. The method for controlling load dynamic balance during the whole jacking process of a tower crane according to claim 1, wherein it is determined whether the second current moment value is smaller than or equal to an allowable value, if the second current moment value is larger than the allowable value, the automatic movement amount is determined to exceed the allowable value, if the second current moment value is smaller than the allowable value, step S4 is executed, if the second current moment value is larger than the allowable value, step S4 is selected to be executed continuously, and the manual mode is switched to after the selection is completed.
6. The method for controlling dynamic load balancing in the whole process of jacking a tower crane according to claim 1, wherein the step S2 comprises:
and calculating a real-time moment value I of the upper structure of the tower crane according to the stress value of the measuring point through a sensor group arranged at the joint of the top of the tower body and the upper structure.
7. The method for controlling dynamic load balancing in the whole process of jacking a tower crane according to claim 1, wherein the step S4 comprises:
and calculating a real-time moment value II of the upper structure of the tower crane according to the stress value of the measuring point through a sensor group arranged at the joint of the climbing frame and the upper structure.
8. The method for controlling dynamic load balancing in the whole process of jacking a tower crane according to claim 6 or 7, wherein the sensor group comprises at least two pin shaft sensors.
9. A control system for dynamic load balancing during the whole process of jacking a tower crane, the system comprising:
the first data acquisition module is used for acquiring a first current output torque value at the joint of the top of the tower body and the upper structure;
the second data acquisition module is used for acquiring a second current output torque value at the joint of the climbing frame and the upper structure;
the signal processing module is used for receiving the signals of the first data acquisition module and the second data acquisition module, amplifying the signals and then sending the amplified signals to the main controller;
the main controller is used for judging whether the current output torque value I acquired by the data acquisition module I and the current output torque value II acquired by the data acquisition module II meet allowable values or not;
and the execution module is used for receiving the instruction of the main controller and controlling the jacking cylinder according to the instruction of the main controller.
10. The system for controlling dynamic load balance in the whole process of jacking a tower crane according to claim 9, wherein the first data acquisition module is a first sensor group installed at the joint of the top of the tower body and the upper structure, and the second data acquisition module is a second sensor group installed at the joint of the climbing frame and the upper structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310636912.7A CN116513965A (en) | 2023-05-31 | 2023-05-31 | Control method and system for dynamic load balance in whole process of tower crane jacking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310636912.7A CN116513965A (en) | 2023-05-31 | 2023-05-31 | Control method and system for dynamic load balance in whole process of tower crane jacking |
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| Publication Number | Publication Date |
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| CN116513965A true CN116513965A (en) | 2023-08-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310636912.7A Pending CN116513965A (en) | 2023-05-31 | 2023-05-31 | Control method and system for dynamic load balance in whole process of tower crane jacking |
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| Country | Link |
|---|---|
| CN (1) | CN116513965A (en) |
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2023
- 2023-05-31 CN CN202310636912.7A patent/CN116513965A/en active Pending
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