CN201217613Y - Security monitoring management system for tower crane - Google Patents

Security monitoring management system for tower crane Download PDF

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Publication number
CN201217613Y
CN201217613Y CNU2007200254412U CN200720025441U CN201217613Y CN 201217613 Y CN201217613 Y CN 201217613Y CN U2007200254412 U CNU2007200254412 U CN U2007200254412U CN 200720025441 U CN200720025441 U CN 200720025441U CN 201217613 Y CN201217613 Y CN 201217613Y
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China
Prior art keywords
sensor
tower crane
key
main control
monitoring management
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Expired - Fee Related
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CNU2007200254412U
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Chinese (zh)
Inventor
王积永
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SHANDONG FUYOU CO Ltd
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SHANDONG FUYOU CO Ltd
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Abstract

Disclosed is a safety monitoring management system of a tower crane, which belongs to the safety monitoring management technique field, the system comprises a sensor, a display screen and a main control unit, and the system also includes an electric control cabinet driving unit for controlling relevant control loops of an electric control cabinet, the electric control cabinet driving unit is connected with the main control unit that sends control commands and drives relevant electrical loops of the electric control cabinet, and the display screen and the sensor are respectively connected with the main control unit. The utility model can effectively record and store the working process of the tower crane in real time, timely turn on or turn off the relevant control loops, realize the safety stop of the operating state of the tower crane, and guarantee the working safety of the tower crane.

Description

Tower crane security monitoring management system
Technical field
The utility model relates to commercial production security monitoring management technical field, relates in particular to a kind of security monitoring management system of tower crane.
Background technology
Continuous development along with China's economy and urban construction, the level of mechanization of building operation is also more and more higher, tower crane (hereinafter to be referred as the tower machine) is as the main vehicle for construction of construction site, because of its lifting altitude big, characteristics such as broad covered area and be widely used in construction site are being undertaken main vertical transport task.Simultaneously again because it has center of gravity height, dangerous characteristics such as big, through regular meeting such or such safety misadventure taking place, causes damage to the people's lives and property.Serious, even fatal crass, dead group of grave accidents of hindering of group can take place.Thereby safe handling and management how to strengthen the tower machine have caused manufacturer, enterprise in charge of construction and the great attention of building intendance.
Chinese patent CN2554148Y discloses a kind of tower crane monitor recording device, can monitor in real time, record and show some important parameter of tower crane and at the eddy-current brake of parameter size control motor, but this utility model has only simply write down some operational parameter value such as the moment of tower machine, electric current etc. and to motor eddy-current brake control, can not be really comprehensively system analysis handle tower machine working phase related parameter and the concrete operational detail of tower machine write down and Monitoring and Controlling in real time, guarantee still have a lot of deficiencies and defective aspect the tower machine trouble free service at actv..
Summary of the invention
The utility model proposes in order to address the above problem just.
The purpose of this utility model provides a kind of tower crane security monitoring management system, and this system comprises sensor, read-out, main control unit and electrical control cubicles driver element, and wherein said sensor is used to gather the related work parameter of tower crane; Read-out is in order to show relevant control and mechanism's status information; Main control unit is used to send control command, drives electrical control cubicles related electric loop; The electrical control cubicles driver element is used for being switched on or switched off the relevant control loop of electrical control cubicles under the control of main control unit, realize the function that safety is spacing.
Wherein, described sensor comprises height, amplitude sensor, and degreeof turn changes sensor, and in order to measure the weight sensor of suspension hook hook load weight.
Highly, the amplitude sensor respectively uses pulse counting sensor to transmit impulse singla, link with the reel output shaft of tower crane.Adopt the angle absolute encoder as the degreeof turn sensor, to adapt to the with the wind rotation of tower machine under off working state.Rotary sensor is installed on the pivoting support side, and the miniature gears of rotary sensor is meshed with the pivoting support bull gear.Weight sensor is walked around the steel wire rope tension of its leading sheave by measurement the F that makes a concerted effort calculates the actual load carrying ability that hangs.
Wherein, main control unit is according to the current amplitude position signal of height, amplitude sensor acquisition, converse the distance L of amplitude variation trolley and the height H of suspension hook group, and amplitude peak Lmax, the minimum radius Lmin and maximum height Hmax, the minimum constructive height Hmin that set with this homologous ray compare
When amplitude variation trolley outwards carried out the luffing operation, when amplitude reaches Lmax, then main control unit sent the power that cuts off the outside luffing of amplitude variation trolley; When the inside luffing operation of amplitude variation trolley, when amplitude reaches Lmin, then main control unit sends and cuts off the inside luffing power of amplitude variation trolley;
Equally, when the suspension hook group upwards hoisted operation, when highly reaching Hmax, then main control unit sent and cuts off upwards the hoist power of operation of suspension hook group.When the suspension hook group was carried out operation downwards, when highly reaching Hmin, then main control unit sent the power that cuts off the downward operation of suspension hook group.
Main control unit converses current degreeof turn according to the current degreeof turn signal that degreeof turn changes the sensor collection, compares with setting value, the offside power that continues the revolution operation that then cuts off, and mechanism can only move round about; Maximum degreeof turn≤1080 of tower crane °.
System stored job record automatically every 0.5 second, can accumulate storing 3 hours job record.
System is divided into two kinds of mode of operations: system debug pattern and system works pattern; System is under the mode of operation, and main control unit is constantly handled, controlled and show the signal of gathering; System is under the debugging mode, and the staff can debug this system, so that this system adapts with tower machine parameter, thereby the tower machine is accurately controlled.
The utility model is gathered, is handled tower machine operational detail parameter by the various sensors that are arranged on the tower machine, and the mode of operation of tower machine is controlled in real time according to correlation parameter, can be in real time, actv. record and preserve tower machine working process, in time be switched on or switched off relevant control loop, the safety that realizes tower machine mode of operation is spacing, ensures the work safety of tower machine.
Description of drawings
Fig. 1 represents a kind of application concrete structure scheme drawing of the present utility model;
Fig. 2 represents the elementary diagram of system described in the utility model;
Fig. 3 represents system's button scheme drawing;
After Fig. 4 represents system's electrifying startup, enter the master control board scheme drawing of normal operation picture;
Fig. 5 represents the input password scheme drawing after master control board enters set condition;
Fig. 6 A and Fig. 6 B represent the weight calibration scheme drawing of master control board;
Fig. 7 represents weight sensor scheme of installation one;
Fig. 8 identifies weight sensor scheme of installation two.
Among the figure, 1. amplitude sensor, 2. read-out, master control board, 3. weight sensor, 4.Rotary sensor, 5. electrical control cubicles drive plate, 6. height sensor.
The specific embodiment
Following examples are used to illustrate the utility model, but are not used for limiting scope of the present utility model.
One, system forms
Tower crane security monitoring management described in the utility model system comprises 6 component parts:
1, highly, the amplitude sensor, each uses pulse counting sensor to transmit impulse singla.
2, degreeof turn sensor is owing to the tower machine should be able to rotate under off working state with the wind, so select the angle absolute encoder for use.
3, weight sensor is in order to measure the weight of suspension hook hook load.
4, read-out is in order to show relevant control and mechanism's status information.
5, main control unit focuses on each sensor signal by micro controller system, sends control command, drives electrical control cubicles related electric loop, is native system signal conditioning and control center.The staff carries out operations such as various inputs, selection by the master control board in the main control unit.
6, electrical control cubicles driver element, this unit insert electrical control cubicles related electric loop, are switched on or switched off the relevant control loop of electrical control cubicles under the control of main control unit, realize the function that safety is spacing.
7, the installation site of each component part on tower crane of system described in the utility model as shown in Figure 1.
1. height sensor is installed on lifting mechanism one side, links with the reel output shaft.
2. the amplitude sensor is installed on luffing mechanism one side, links with the reel output shaft.
3. rotary sensor is installed on the pivoting support side, and the miniature gears of rotary sensor is meshed with the pivoting support bull gear.
4. the installation of weight sensor sees below described.
Two, the function of system realizes
1, accurately gathers the position pulse signal of amplitude variation trolley in real time, position signal is passed to main control unit.Main control unit is according to current amplitude position signal, converse the distance (L) of amplitude variation trolley, and the amplitude peak of setting with this homologous ray (Lmax), minimum radius (Lmin) compares, when amplitude variation trolley outwards carries out the luffing operation, when amplitude reaches Lmax, then main control unit sends the power that cuts off the outside luffing of amplitude variation trolley.When the inside luffing operation of amplitude variation trolley, when amplitude reaches Lmin, then main control unit sends and cuts off the inside luffing power of amplitude variation trolley.
2, accurately gather the position signal of suspension hook group in real time, position signal is passed to main control unit.Main control unit is according to current position signal, converse the height (H) of suspension hook group, and the maximum height of setting with this homologous ray (Hmax), minimum constructive height (Hmin) compares, when the suspension hook group upwards hoists operation, when highly reaching Hmax, then main control unit sends and cuts off upwards the hoist power of operation of suspension hook group.When the suspension hook group was carried out operation downwards, when highly reaching Hmin, then main control unit sent the power that cuts off the downward operation of suspension hook group.
3, accurately gather the degreeof turn signal of tower machine in real time, angle signal is passed to main control unit.Main control unit converses current degreeof turn according to current degreeof turn signal, compares with setting value, the offside power that continues the revolution operation that then cuts off, and mechanism can only move round about.The maximum degreeof turn of tower machine≤1080 °.
4, accurately in real time gather weight signal, the analog signal of load transducer is passed to main control unit.Main control unit compares according to the maxim (Gmax) of current gravimetric value (G) with default, if G 〉=105%Gmax, then main control unit sends control command, cut off the control loop that hoists in the electrical control cubicles, if G 〉=50%max then main control unit beard and hair goes out control command lifting mechanism can not be hoisted at a high speed, if top gear then transfers low gear operation to.If G 〉=90%max then carries out display alarm.
5, main control unit should be converted into moment M (M=L*G) and the specified hoisting moment Me that sets with the M homologous ray compares according to the range value (L) of real-time collection and gravimetric value (G), if M 〉=105%Me then main control module should send control command, cut off the loop that suspension hook rises and amplitude variation trolley outwards moves in the electrical control cubicles, if M 〉=80%Me then should carry out display alarm, simultaneously should send control command greater than the tower machine main control unit of 40m/min, make amplitude variation trolley transfer low gear operation to for luffing speed.
6, system stored job record automatically every 0.5 second, can accumulate storing 3 hours job record.
Three, control port explanation
1, the forceful electric power drive plate is established 16 of connection terminals altogether, and numbering and implication are as follows respectively:
(1), (2): the access of lifting mechanism rising control loop and pick out terminal.(when spacing, switch disconnects.Remove when spacing switch closure.)
(3), (4): the access of lifting mechanism decline control loop and pick out terminal.(when spacing, switch disconnects.Remove switch closure when spacing.)
(5), (6): hoisting changes the access of low speed control loop and picks out terminal at a high speed.(when spacing, switch disconnects.Remove when spacing switch closure.)
(7), (8): the access that luffing changes the low speed control loop at a high speed picks out terminal, and (when spacing, switch disconnects.Remove when spacing switch closure.)
(9), (10): luffing mechanism inwards (back) luffing control loop access and pick out terminal (when spacing, switch disconnect.Remove when spacing switch closure.)
(11), (12): luffing mechanism outwards (preceding) luffing control loop access and pick out terminal (when spacing, switch disconnect.Remove when spacing switch closure.)
(13), (14): the access of swing type mechanism left-hand rotation control loop and pick out terminal (when spacing, switch disconnects.Remove when spacing switch closure.)
(15), (16): the access of swing type mechanism right-hand rotation control loop and pick out terminal (when spacing, switch disconnects.Remove when spacing switch closure.)
2, according to the upper terminal definition, when system installs, with cable each terminal is sealed in corresponding control loop and can realize the described every limit function of said system.
3, the system wiring principle as shown in Figure 2.
Four, main technical details
1, AC contactor control loop voltage: 220V, 50HZ.
2, ambient temperature :-20 ℃-+60 ℃.
3, control loop electric current≤10A.
4, time between failures: 3000h.
Five, system debug
Tower crane security monitoring management system is divided into two kinds of mode of operations: a kind of is the system debug pattern for system is provided with pattern, and a kind of is the system works pattern.
System is under the mode of operation, and main control unit is constantly handled, controlled and show the signal of gathering.System is under the debugging mode, and the staff can debug this system, so that this system adapts with tower machine parameter, thereby the tower machine is accurately controlled.
1, press key text:
As shown in Figure 3, " work ": enter mode of operation (acquiescence mode of operation when system powers on) by this key.
" setting ": in normal operation, enter the state of setting by this key.
" ← ", " → ": moving cursor is to selected project.
"+", "-": the numerical value plus-minus of cursor position.
" affirmation ": preserve the information of user's input, finish this setting.
" return/zero clearing ": can cancel the user at the state that is provided with by this key and import or return previous menu; In working order by weight numerical value zero clearing behind this key and the typing password confirming.
2, behind system's electrifying startup, enter the normal operation picture, as shown in Figure 4:
Wherein " highly ": the height value of the current suspension hook group of tower machine.
" amplitude ": the range value that the tower machine is current.
" revolution ": the degreeof turn that the tower machine is current.
" weight ": the current load-carrying value that hangs of tower machine.
" moment ": the hoisting moment value that the tower machine is current.
" spacing ": the limiting device that expression is relevant is spacing.
If native system uses first, then the data of working interface are programming data (invalid data), and the user need be provided with.
3, can enter set condition by " setting " key, at first require the input password, suppose that the password default that dispatches from the factory of machine is " 12345 ", the interface as shown in Figure 5;
Wherein arrive the relevant position, press " affirmation " key behind the numerical value by "+" "-" input relevant position, if the password mistake is then pointed out by " ← " " → " moving cursor;
After password is correct, enters picture is set;
Behind the relevant position, press " affirmation " key by " ← ", " → " moving cursor, operate, at first make cursor move to " 1. height ", press the picture that " affirmation " key entry altitude is provided with according to prompting:
Operate by screen display, enter smallest limit position to " 1. the smallest limit position is provided with " back by " affirmation " key by " ← ", " → " moving cursor the interface is set;
Operate by screen display, make the suspension hook group be in static back, smallest limit position by " affirmation " key, system ejects the smallest limit position picture is set successfully;
Stop and automatically return to high-low limit about 2 seconds picture is set, cursor rests on " 2. the limes superiors position is provided with " automatically, enters the limes superiors position by " affirmation " key the interface is set;
Operate by screen display, make the suspension hook group be in static back, limes superiors position by " affirmation " key, system ejects the limes superiors position picture is set successfully;
Stop and automatically return to high-low limit after about 2 seconds picture is set, cursor rests on " 3. the high-low limit spacing is provided with " automatically, enters the high-low limit spacing by " affirmation " key the interface is set;
To the relevant position, press " affirmation " key behind the numerical value by "+", "-" key input relevant position by " ← ", " → " key moving cursor, so far highly be provided with and finish.
Step by step by " returning " key enter the work picture is set after, to " 2. amplitude ", picture is set by " ← ", " → " moving cursor by " affirmation " key amplitude of entering;
Operate by screen display, press " affirmation " key by " ← ", " → " moving cursor to " 1. minimum radius setting " and enter minimum radius picture is set; Operate by screen display, make the suspension hook group be in the static back of minimum radius by " affirmation " key, system ejects minimum radius picture is set successfully;
The amplitude of automatically returning to is provided with picture after stopping about 2 seconds, and cursor rests on " 2. amplitude peak setting " automatically, enters amplitude peak by " affirmation " key the interface is set; Operate by screen display, make the suspension hook group be in the static back of amplitude peak by " affirmation " key, system ejects amplitude peak picture is set successfully:
The amplitude of automatically returning to is provided with picture after stopping about 2 seconds, and cursor rests on " 3. limit spacing is provided with " automatically, enters limit spacing by " affirmation " key the interface is set;
To the relevant position, press " affirmation " key behind the numerical value by "+", "-" key input relevant position by " ← ", " → " key moving cursor, amplitude setting is so far finished.
Step by step by " returning " key enter the work picture is set after,, enter to turn round by " affirmations " key picture be set to " 3. revolution " by " ← ", " → " moving cursor;
Operate by screen display, press " affirmation " key by " ← ", " → " moving cursor to " 1. left side revolution limit setting " and enter the left limit of turning round picture is set; Operate by screen display, make the tower machine be in the left side revolution limit and static back is set by " affirmation " key, system ejects a left side revolution limit picture is set successfully;
The amplitude of automatically returning to is provided with picture after stopping about 2 seconds, and cursor rests on " 2. the right-hand rotation limit is provided with " automatically, enters the right-hand rotation limit by " affirmation " key the interface is set; Operate by screen display, make the tower machine be in the static back of right-hand rotation end position by " affirmation " key, system ejects the right-hand rotation limit picture is set successfully;
The amplitude of automatically returning to is provided with picture after stopping about 2 seconds, and cursor rests on " 3. extreme angles setting " automatically, enters extreme angles by " affirmation " key the interface is set;
To the relevant position, press " affirmation " key behind the numerical value by "+", "-" key input relevant position by " ← ", " → " key moving cursor, so far revolution setting is finished.
Step by step by " returning " key enter the work picture is set after,, enter weight by " affirmation " key picture be set to " 4. weight " by " ← ", " → " moving cursor;
Operate by screen display, after " 1. weight calibration " presses " affirmation " key, enter picture shown in Fig. 6 A by " ← ", " → " key moving cursor;
The control tower machine makes luffing mechanism be in the amplitude peak place of the biggest lifting capacity, sling than miniweights liftoff after, utilize "+", "-" key input counterweight weight, observe " AD0 " and " AD1 " numerical value, when two numerical value reducing in the process and be tending towards near after again by " affirmations " key (wait counterweight static), enter picture shown in Fig. 6 B;
The control tower machine makes luffing mechanism be in the amplitude peak place of the biggest lifting capacity, utilize "+", "-" key input counterweight weight after the big counterweight of slinging is liftoff, observe " AD0 " and " AD1 " numerical value, when two numerical value reducing in the process and be tending towards near after again by " affirmations " key (wait for counterweight static), system ejects weight and calibrates picture is set successfully;
Stop and automatically return to weight after about 2 seconds picture is set, cursor rests on " 2. maximum rated weight setting " automatically, enters maximum rated weight by " affirmation " key the interface is set;
To the relevant position, press " affirmation " key behind the numerical value by "+" "-" input relevant position by " ← ", " → " moving cursor, weight setting is so far finished.(" than miniweights " weight can be 0, and " big counterweight " preferably selects maximum rated hoisting capacity for use.)
Step by step by " returning " key enter the work picture is set after,, enter moment by " affirmation " key picture be set to " 5. moment " by " ← ", " → " moving cursor; Operate by screen display, can move up and down cursor by " ← ", by " → " can about the moving cursor that circulates, utilize behind "+" "-" key input value by " affirmation " key, setting completed for moment.(" basic arm amplitude " is meant the basic arm amplitude peak, and " nominal payload " is meant the rated load weight at basic arm amplitude peak place herein; Dolly was in the amplitude of outermost end position when " amplitude peak " was meant tower work, and " nominal payload " is meant the rated load weight at amplitude peak place herein.)
Step by step by " returning " key enter the work picture is set after, to " 6. time ", picture is set by " ← ", " → " moving cursor by " affirmation " key entry time; To the relevant position, press " affirmation " key behind the numerical value by "+" "-" input relevant position by " ← ", " → " moving cursor, the time, setting completed.
Step by step by " returning " key enter the work picture is set after,, enter spacing control lead by " affirmation " key picture be set to " 7. spacing control lead " by " ← ", " → " moving cursor; Can move up and down cursor by " ← ", by " → " can about the moving cursor that circulates, by behind the numerical value of "+", "-" input relevant position by " affirmation " key, setting completed for spacing control lead.(because there is inertia in mechanism's work; if begin spacing control to end position; then mechanism's inertia motion must cause offside; so answer typing control ' lead '; when end position differs ' lead ', carry out spacing control when mechanism runs to, do not exceed spacing end position with the assurance mechanism operation.)
4, led status explanation:
Power light: system gets electric then indicator lamp bright " green ".
Indicator lamp hoists: indicator lamp bright " green " when indicator lamp bright " redness " when height limiter is spacing, spacing releasing.
Luffing indicator lamp: indicator lamp bright " green " when indicator lamp bright " redness " when the luffing killer is spacing, spacing releasing.
Weight indicator lamp: indicator lamp bright " green " when indicator lamp bright " redness " when the weight limits device is spacing, spacing releasing.
Moment indicator lamp: indicator lamp bright " green " when indicator lamp bright " redness " when limiter of moment is spacing, spacing releasing.
Revolution indicator lamp: indicator lamp bright " green " when revolution killer indicator lamp bright " redness " when spacing, spacing releasing.
Press job key, system enters mode of operation, after longer stage work, if think that system accuracy has drift, and then can be again according to the step setting.
Six, the user uses notice
1, tower machine installation in position must be debugged system before using.
2, the user is in use if find that system accuracy has drift then must debug again system.
When 3, the tower machine transfer building site or the multiplying power that hoists change, must debug again system.
4, avoid system water inlet or suffer high vibration and bump.
5, the installation of weight sensor as shown in Figure 7, its configuration parameter is as shown in the table:
The biggest lifting capacity The weight sensor useful range The weight sensor load-carrying capacity Steel rope cornerite β
????4t ????0.8t ????3t ????140°~150°
????6t ????1t ????3t ????150°~155°
????8t ????1t ????3t ????155°~160°
????8t ????1.5t ????3t ????150°~155°
????10t ????1.5t ????3t ????150°~155°
????12t ????1.5t ????3t ????155°~160°
????16t ????1.5t ????3t ????160°~165°
Weight sensor is to calculate the actual load carrying ability that hangs by the F that makes a concerted effort that the steel wire rope tension of its leading sheave is walked around in measurement.Weight sensor guarantees necessarily that when mounted the cornerite β of steel rope is in corresponding angular range, to cause the steel rope F that makes a concerted effort excessive if angle is less than normal, the load-carrying capacity that exceeds weight sensor, if the F that then makes a concerted effort bigger than normal is less than normal for angle, influence the service precision of system, will make the A face of the bisector (F promptly makes a concerted effort) of cornerite β simultaneously as far as possible perpendicular to the sensor pivot pin.
Though the utility model is explained in conjunction with a specific embodiment; but those skilled in the art can be to wherein some feature appropriate change or apply it to other field solving the problem of security monitoring aspect in addition, so all relevant expansions of carrying out on the basis of present embodiment of those skilled in the art and use the protection domain that all should fall into the application.

Claims (5)

1, a kind of tower crane security monitoring management system, this system comprises sensor, read-out and main control unit, it is characterized in that: this system also comprises the electrical control cubicles driver element of the relevant control loop of a control electrical control cubicles, the electrical control cubicles driver element is connected with the main control unit that sends control command, driving electrical control cubicles related electric loop, and read-out is connected with main control unit respectively with sensor.
2, tower crane security monitoring management as claimed in claim 1 system is characterized in that: described sensor comprises height, amplitude sensor, the degreeof turn sensor, and in order to measure the weight sensor of suspension hook hook load weight.
3, tower crane security monitoring management as claimed in claim 2 system is characterized in that: described height, amplitude sensor respectively use one to transmit the pulse counting sensor of impulse singla and the reel output shaft of tower crane links.
4, tower crane security monitoring management as claimed in claim 2 system is characterized in that: adopt the angle absolute encoder as the degreeof turn sensor.
5, as claim 2 or 4 described tower crane security monitoring management systems, it is characterized in that: described rotary sensor is installed on the pivoting support side, and the miniature gears of rotary sensor is meshed with the pivoting support bull gear.
CNU2007200254412U 2007-07-26 2007-07-26 Security monitoring management system for tower crane Expired - Fee Related CN201217613Y (en)

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CN101817477A (en) * 2010-03-23 2010-09-01 山东鸿达建工集团有限公司 Safety monitoring device for tower crane
CN102718147A (en) * 2012-06-29 2012-10-10 三一重工股份有限公司 Hook motion control mechanism and tower crane
CN103274299A (en) * 2013-06-21 2013-09-04 中联重科股份有限公司 Tower crane, swing control system and swing control method thereof
CN103879890A (en) * 2013-12-20 2014-06-25 天津市安维康家科技发展有限公司 Tower crane running status monitoring method and system
CN104129711A (en) * 2014-07-18 2014-11-05 哈尔滨东建机械制造有限公司 Visual tower-type crane swinging monitor
CN104495619A (en) * 2014-12-09 2015-04-08 无锡港盛港口机械有限公司 Horizontal falling compensating method of lifting hook for portal crane luffing mechanism of shipyard
CN105523491A (en) * 2015-11-11 2016-04-27 徐州建机工程机械有限公司 Ground-controlled two-arm tower crane electronic monitoring system and monitoring method thereof
CN106586835A (en) * 2016-12-16 2017-04-26 湖南中联重科智能技术有限公司 Tower crane control method, device and system and tower crane
CN107043069A (en) * 2017-03-27 2017-08-15 南宁市茂宏信息技术有限公司 Safety of gantry crane monitoring management system
CN108363348A (en) * 2018-02-08 2018-08-03 湖北汽车工业学院 Space environment simulation facility control device and system
CN110954047A (en) * 2019-11-05 2020-04-03 湖南中联重科建筑起重机械有限责任公司 Method, device and system for measuring and calculating included angle and machine-readable storage medium
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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101817477A (en) * 2010-03-23 2010-09-01 山东鸿达建工集团有限公司 Safety monitoring device for tower crane
CN102718147B (en) * 2012-06-29 2015-04-22 三一重工股份有限公司 Hook motion control mechanism and tower crane
CN102718147A (en) * 2012-06-29 2012-10-10 三一重工股份有限公司 Hook motion control mechanism and tower crane
CN103274299B (en) * 2013-06-21 2015-10-28 中联重科股份有限公司 Tower crane and rotary control system thereof and revolving-control method
CN103274299A (en) * 2013-06-21 2013-09-04 中联重科股份有限公司 Tower crane, swing control system and swing control method thereof
CN103879890A (en) * 2013-12-20 2014-06-25 天津市安维康家科技发展有限公司 Tower crane running status monitoring method and system
CN104129711A (en) * 2014-07-18 2014-11-05 哈尔滨东建机械制造有限公司 Visual tower-type crane swinging monitor
CN104495619A (en) * 2014-12-09 2015-04-08 无锡港盛港口机械有限公司 Horizontal falling compensating method of lifting hook for portal crane luffing mechanism of shipyard
CN104495619B (en) * 2014-12-09 2017-01-11 无锡港盛港口机械有限公司 Horizontal falling compensating method of lifting hook for portal crane luffing mechanism of shipyard
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CN106586835B (en) * 2016-12-16 2019-10-22 湖南中联重科智能技术有限公司 Tower crane control method, equipment, system and derrick crane
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