CN204727472U - The control system of lifting device and Lift-on/Lift-off System - Google Patents
The control system of lifting device and Lift-on/Lift-off System Download PDFInfo
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- CN204727472U CN204727472U CN201520185009.4U CN201520185009U CN204727472U CN 204727472 U CN204727472 U CN 204727472U CN 201520185009 U CN201520185009 U CN 201520185009U CN 204727472 U CN204727472 U CN 204727472U
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Abstract
The utility model provides a kind of control system and Lift-on/Lift-off System of lifting device, and the control system of described lifting device comprises: spatial digitizer, for carrying out 3-D scanning to prefabricated components, lifting device and camp site; Processing module, is electrically connected with described spatial digitizer; Micro-control unit, is arranged on described lifting device, and is connected with described processing module; Motor, controls lifting device according to the output command of described micro-control unit and moves; Wherein, after the treated resume module of scan-data that described spatial digitizer exports, deliver to micro-control unit, described micro-control unit and then produce output command and deliver to motor place.The utility model carries out by driving each parts of lifting device the action rotating, walk, and achieves the automatic lifting to prefabricated components, avoids the aloft work of operator, and ensure that high precision.
Description
Technical field
The utility model relates to the realm of building construction, especially a kind of control system of lifting device and lifting device.
Background technology
Tower crane is a kind of lifting device the most frequently used on building ground, have another name called " tower crane ", with a section spreading (being called for short " standard knot "), be used for the raw MAT'L of the construction such as reinforcing bar, wood stupefied, cement concrete, steel pipe of lifting construction, therefore be a kind of requisite equipment on building site.
All enter construction hoisting by operator to operate inside, storehouse and carry out manual hand manipulation in the construction hoisting operation of construction site.The accuracy of operation place one's entire reliance upon operating personal degree of being skilled in technique and with the coordinating of on scene commander personnel, in addition field condition is complicated, operation blind spot is many, and this traditional lifting device and the method for carrying out weight carrying work thereof just can not meet the demand of architectural construction technology gradually.Along with the development of assembled architecture, camp site proposes to be needed utilize lifting device to carry out prefabricated components transport and carry out pinpoint requirement, the positioning requirements of assembled architecture is often at grade, and the lifting precision adopting traditional lifting device to carry out lifting is at centimetre even decimeter grade, therefore, must transform traditional lifting device, make it adapt to the requirement of assembled architecture component high fix.
Utility model content
The purpose of this utility model is the control system and the Lift-on/Lift-off System that provide a kind of lifting device based on 3-D scanning technology, to improve the lifting precision to prefabricated components, and avoids operating personal to carry out aloft work, and then reduces the labour intensity of operating personal.
In order to achieve the above object, the utility model provides a kind of control system of lifting device, comprising:
Spatial digitizer, for carrying out 3-D scanning to prefabricated components, lifting device and camp site;
Processing module, is electrically connected with described spatial digitizer;
Micro-control unit, is arranged on described lifting device, and is connected with described processing module;
Motor, controls lifting device according to the output command of described micro-control unit and moves;
Wherein, after the treated resume module of scan-data that described spatial digitizer exports, deliver to micro-control unit, described micro-control unit and then produce output command and deliver to motor place.
Further, described lifting device is tower crane, and described lifting device has pivot arm, truss dolly and hoist cable, and described truss dolly is arranged on pivot arm, and described hoist cable is arranged on truss dolly.
Further, the quantity of described motor is multiple, and multiple described motor controls the rotation of described pivot arm, the walking of truss dolly and the folding and unfolding of hoist cable respectively.
Further, described processing module sets up the model of prefabricated components, camp site and lifting device according to the scan-data that spatial digitizer exports, and then obtain the angle variable quantity of described pivot arm, the displacement of truss dolly and the length of hoist cable, and export the angle variable quantity of described pivot arm, the displacement of truss dolly and hoist cable length to described micro-control unit.
Further, the output command of described micro-control unit comprises Angle ambiguity instruction and Bit andits control instruction, described micro-control unit forms described Angle ambiguity instruction according to the angle variable quantity of the pivot arm obtained, and forms described Bit andits control instruction according to the described displacement of truss dolly obtained and the length of hoist cable.
Further, described lifting device is provided with key point and controlling point, the scan-data that described processing module exports according to spatial digitizer sets up prefabricated components, camp site, the model at key point and controlling point, and then obtain the angle variable quantity of described key point and the displacement at controlling point, the output command of described micro-control unit comprises Angle ambiguity instruction and Bit andits control instruction, described micro-control unit obtains described Angle ambiguity instruction according to the angle variable quantity of described key point, and obtain described Bit andits control instruction according to the displacement at described controlling point, multiple described motor is arranged on key point and controlling point, and change the anglec of rotation of described key point and the displacement of displacement point respectively according to described Angle ambiguity instruction and Bit andits control instruction.
Further, described spatial digitizer is three-dimensional laser scanner.
Further, described camp site is the floor level of building.
Further, described processing module is computing machine.
Further, described micro-control unit and processing module wireless connections, described micro-control unit is Arduino controller.
Further, described motor is servomotor.
The utility model additionally provides a kind of Lift-on/Lift-off System, comprises prefabricated components and lifting device, also comprises the control system of above-mentioned lifting device.
The utility model provides a kind of control system and Lift-on/Lift-off System of lifting device, by spatial digitizer, camp site, lifting device and prefabricated components are scanned in advance, and utilize millimetre-sized scanning achievement, in a computer modeling is carried out to above-mentioned object, determine camp site, lifting device and prefabricated components relativeness each other, also by driving each parts of lifting device to carry out the action rotating, walk, achieve the automatic lifting to prefabricated components, avoid the aloft work of operator, and ensure that high precision.
Accompanying drawing explanation
The schematic diagram of the control system of the lifting device that Fig. 1 provides for the utility model embodiment;
The structural representation of the lifting device that Fig. 2 provides for the utility model embodiment.
In figure, 1: pivot arm, 2: truss dolly, 3: hoist cable, 4: tower body, 5: operational window.
Detailed description of the invention
Below in conjunction with schematic diagram, detailed description of the invention of the present utility model is described in more detail.According to following description and claims, advantage of the present utility model and feature will be clearer.It should be noted that, accompanying drawing all adopts the form that simplifies very much and all uses non-ratio accurately, only in order to object that is convenient, aid illustration the utility model embodiment lucidly.
As shown in Figure 1, the utility model provides a kind of control system of lifting device, for controlling lifting device to realize the lifting to prefabricated components, comprising:
Spatial digitizer, for carrying out 3-D scanning to prefabricated components, lifting device and camp site;
Processing module, is electrically connected with described spatial digitizer;
Micro-control unit, is arranged on described lifting device, and is connected with described processing module;
Motor, controls lifting device according to the output command of described micro-control unit and moves;
Wherein, after the treated resume module of scan-data that described spatial digitizer exports, deliver to micro-control unit, described micro-control unit and then produce output command and deliver to motor place.
In the present embodiment, described spatial digitizer is three-dimensional laser scanner.Three-dimensional laser scanner adopts three-dimensional laser scanning technique, and three-dimensional laser scanning technique is otherwise known as outdoor scene reproduction technology, is the technological revolution of survey field after GPS technology.It is different from traditional single-point measurement method, has high efficiency, high-precision unique advantage.Adopt the three-dimensional laser scanner of three-dimensional laser scanning technique can provide the three dimensional point cloud on scanning object surface, may be used for the digital model obtaining high-accuracy high-resolution, obtained the three-dimensional accurate dimension of prefabricated components, camp site and lifting device by three-dimensional laser scanner, ensure that the high precision of construction and installation.
In the present embodiment, described camp site is the floor level of building, as shown in Figure 2, described lifting device is tower crane, described lifting device has pivot arm 1, truss dolly 2, hoist cable 3, tower body 4 and operational window 5, described truss dolly 2 is arranged on pivot arm 1, truss dolly 2 can be walked on pivot arm 1, pivot arm 1 is connected with tower body 4 by turntable (not shown), and can rotate around tower body 4, described hoist cable 3 is arranged on truss dolly 2, and hoist cable 3 is connected with suspension hook, by the folding and unfolding of hoist cable 3, suspension hook is hung on prefabricated components.
The quantity of described motor is multiple, and being preferably servomotor, multiple described motor controls the rotation of described pivot arm, the walking of truss dolly and the folding and unfolding of hoist cable respectively, and the angle variable quantity of the pivot arm of this lifting device is θ, the displacement of truss dolly is S, and the length of hoist cable is L.
In the present embodiment, described processing module is computing machine, described lifting device is provided with key point and controlling point, described processing module sets up the model at prefabricated components, camp site, key point and controlling point according to the scan-data that spatial digitizer exports, and then obtains the angle variable quantity of described key point and the displacement at controlling point.For a certain prefabricated components, due to object point (namely these prefabricated components to be placed/install position) position be known, multiple key point is set, and in conjunction with the plurality of key point and described object point to obtain these prefabricated components of lifting time pivot arm 1 angle variable quantity θ; Multiple controlling point is set, and the displacement S of truss the dolly 2 and length L of hoist cable 3 when lifting these prefabricated components in conjunction with the plurality of controlling point and described object point to obtain.Such as, in the present embodiment, choose at one o'clock as a key point (being preferably the intersection point of tower body 4 axis and pivot arm 1 axis) in tower body 4 or operational window 5, a point is chosen as another key point (preferably on the axis of pivot arm 1 a bit) in pivot arm 1, and to guarantee that these two key points have spacing in the horizontal direction, namely these two key point in the vertical directions are guaranteed not on a vertical straight line, the angle variable quantity θ of pivot arm 1 when can calculate these prefabricated components of lifting according to the object point of these two key points and any one prefabricated component.Choose on truss dolly 2 a bit as a controlling point (being preferably truss dolly 2 and pivot arm 1 axis intersection point), choosing hoist cable 3 with the intersection point of suspension hook is another controlling point, to consider in the present embodiment that preferably tower body 4 axis and pivot arm 1 axis intersection point are a key point, the displacement S of truss the dolly 2 and length L of hoist cable 3 when so can obtain these prefabricated components of lifting according to above-mentioned two controlling points, a key point and the object point until hoisting prefabricated component.The present embodiment considers the complexity reducing modeling, only establishes the model at key point and controlling point on lifting device, avoids and carry out modeling to the entirety of lifting device, reduce complexity.
When carrying out modeling to prefabricated components and camp site, needing the mode adopting equal proportion modeling in the same space system of axes, namely consistent compare rule modeling being adopted to prefabricated components and camp site.In addition, when carrying out modeling to key point and displacement point, also adopt the compare rule identical with prefabricated components, and the key point in model is that quantity is identical with actual key point, the displacement point in model is identical with the quantity of actual displacement point.
In the present embodiment, the output command of described micro-control unit comprises Angle ambiguity instruction and Bit andits control instruction, described micro-control unit obtains described Angle ambiguity instruction according to the angle variable quantity of described key point, and obtain described Bit andits control instruction according to the displacement at described controlling point, multiple described motor is arranged on key point and controlling point, and change the anglec of rotation of described key point and the displacement of displacement point respectively according to described Angle ambiguity instruction and Bit andits control instruction, and then achieve rotation to pivot arm, the walking of truss dolly, the folding and unfolding of hoist cable.
In another embodiment, described processing module is computing machine, this computing machine sets up the model of prefabricated components, camp site and lifting device according to the scan-data that spatial digitizer exports, and then obtain the length L of the angle variable quantity θ of described pivot arm, the displacement S of truss dolly and hoist cable, and export the length L of the angle variable quantity θ of described pivot arm, the displacement S of truss dolly and hoist cable to described micro-control unit.In addition, the output command of described micro-control unit comprises Angle ambiguity instruction and Bit andits control instruction, described micro-control unit forms described Angle ambiguity instruction according to the angle variable quantity θ of the pivot arm obtained, and forms described Bit andits control instruction according to the displacement S of described truss dolly obtained and the length L of hoist cable.
In the present embodiment, described micro-control unit and processing module wireless connections, described micro-control unit is Arduino controller.
In addition, in the present embodiment, run in described processing module and have Rhino software, the scan-data that Rhino exports according to the described spatial digitizer obtained sets up prefabricated components, camp site, the model at key point and controlling point, operating personal carries out virtual lifting operation in Rhino, Rhino produces control command according to the virtual lifting operation of operating personal, this control command is wirelessly transmitted in described micro-control unit, micro-control unit and then produce Angle ambiguity instruction and Bit andits control instruction, motor operates pivot arm after receiving Angle ambiguity instruction and Bit andits control instruction, truss dolly and hoist cable move accordingly.
The utility model additionally provides a kind of Lift-on/Lift-off System, comprises described prefabricated components and lifting device, also comprises the control system of above-mentioned lifting device.
To sum up, the utility model provides a kind of control system and Lift-on/Lift-off System of lifting device, by spatial digitizer, camp site, lifting device and prefabricated components are scanned in advance, and utilize millimetre-sized scanning achievement, in a computer modeling is carried out to above-mentioned object, determine camp site, lifting device and prefabricated components relativeness each other, also each parts of lifting device are driven to carry out the action of turning round, walking by Numeric Control Technology, achieve the automatic lifting to prefabricated components, avoid the aloft work of operator, and ensure that high precision.
Above are only preferred embodiment of the present utility model, any restriction is not played to the utility model.Any person of ordinary skill in the field; not departing from the scope of the technical solution of the utility model; the technical scheme disclose the utility model and technology contents make the variations such as any type of equivalent replacement or amendment; all belong to the content not departing from the technical solution of the utility model, still belong within protection domain of the present utility model.
Claims (9)
1. a control system for lifting device, for controlling lifting device to realize the lifting to prefabricated components, is characterized in that, comprise:
Spatial digitizer, for carrying out 3-D scanning to prefabricated components, lifting device and camp site;
Processing module, is electrically connected with described spatial digitizer;
Micro-control unit, is arranged on described lifting device, and is connected with described processing module;
Motor, controls lifting device according to the output command of described micro-control unit and moves;
Wherein, after the treated resume module of scan-data that described spatial digitizer exports, deliver to micro-control unit, described micro-control unit and then produce output command and deliver to motor place.
2. the control system of lifting device as claimed in claim 1, it is characterized in that, described lifting device is tower crane, and described lifting device has pivot arm, truss dolly and hoist cable, described truss dolly is arranged on pivot arm, and described hoist cable is arranged on truss dolly.
3. the control system of lifting device as claimed in claim 2, it is characterized in that, the quantity of described motor is multiple, and multiple described motor controls the rotation of described pivot arm, the walking of truss dolly and the folding and unfolding of hoist cable respectively.
4. the control system of lifting device as claimed in claim 1, it is characterized in that, described spatial digitizer is three-dimensional laser scanner.
5. the control system of lifting device as claimed in claim 1, is characterized in that, described camp site is the floor level of building.
6. the control system of lifting device as claimed in claim 1, it is characterized in that, described processing module is computing machine.
7. the control system of lifting device as claimed in claim 1, it is characterized in that, described micro-control unit and processing module wireless connections, described micro-control unit is Arduino controller.
8. the control system of lifting device as claimed in claim 1, it is characterized in that, described motor is servomotor.
9. a Lift-on/Lift-off System, comprises prefabricated components and lifting device, it is characterized in that, also comprises the control system of the lifting device as described in any one of claim 1-9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520185009.4U CN204727472U (en) | 2015-03-30 | 2015-03-30 | The control system of lifting device and Lift-on/Lift-off System |
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| CN201520185009.4U CN204727472U (en) | 2015-03-30 | 2015-03-30 | The control system of lifting device and Lift-on/Lift-off System |
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| CN204727472U true CN204727472U (en) | 2015-10-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104709825A (en) * | 2015-03-30 | 2015-06-17 | 华东建筑设计研究院有限公司 | Control system and hoisting system for hoisting tool |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104709825A (en) * | 2015-03-30 | 2015-06-17 | 华东建筑设计研究院有限公司 | Control system and hoisting system for hoisting tool |
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