WO2014201886A1 - 吊重摆角、吊重载荷或吊重姿态的监测方法与装置及起重机 - Google Patents

吊重摆角、吊重载荷或吊重姿态的监测方法与装置及起重机 Download PDF

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Publication number
WO2014201886A1
WO2014201886A1 PCT/CN2014/073961 CN2014073961W WO2014201886A1 WO 2014201886 A1 WO2014201886 A1 WO 2014201886A1 CN 2014073961 W CN2014073961 W CN 2014073961W WO 2014201886 A1 WO2014201886 A1 WO 2014201886A1
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WO
WIPO (PCT)
Prior art keywords
hoisting
crane
angle
load
channel
Prior art date
Application number
PCT/CN2014/073961
Other languages
English (en)
French (fr)
Inventor
林汉丁
Original Assignee
Lin Handing
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lin Handing filed Critical Lin Handing
Priority to US14/649,211 priority Critical patent/US9415977B2/en
Publication of WO2014201886A1 publication Critical patent/WO2014201886A1/zh

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Classifications

    • 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
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/14—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing suspended loads

Definitions

  • the crane has not been provided with the hoisting angle display so far, so it is only an idea, and even if the crane operating room has installed the hoisting angle and hoisting load It is also difficult to display with the same detection device, seriously affecting the comparability with the synergy, and the monitoring method is not clear.
  • the object of the present invention is to provide a sway angle and a sling load suitable for both single-machine hoisting and lifting operations for preventing slinging, controlling sway yaw and realizing vertical hoisting and crane lifting. Or monitoring methods and devices for lifting postures.
  • Another object is to provide a crane including the above-described monitoring method and apparatus for hoisting angle, hoisting load or hoisting posture.
  • the hoisting angle refers to an angle at which the lifting force acting line of the lifting block of the lifting hook is offset from the vertical line, that is, the yaw angle of the hook, and the pulley guard in the present application is
  • the guard plates, the cleats, the yoke plates, the connecting plates, etc., which are located on both sides of the pulley and support the connecting pulley shaft and the hook shaft, are collectively referred to as pulley guards.
  • Single-machine hoisting and lifting are the basic operations of lifting of cranes or engineering cranes, and the number of independent lifting points for lifting is only 3, so it is generally two-machine or three-machine lifting, according to the lifting mathematical model (Lin Handing. Mathematical model of hoisting and hoisting force control [J], Journal of Nanjing Institute of Civil Engineering and Architecture, 1996 (4) 72-77, the same below)
  • the danger of lifting is from vertical hoisting, and the second is from crane loading (super hoisting) Design value) change, when double machine lift After the position of the second lifting point of the crane is determined, the load of the second lifting point in the lifting is abnormally changed, only the slope of the connecting line of the second hanging point deviates from the design value.
  • the lifting is controlled.
  • the load of the suspension point of the second main engine is abnormally changed.
  • the crane can be compared with the load change of the two main engines.
  • the slope of the connection point of the two main cranes can be controlled as the target to operate the crane. Therefore, according to the hoisting angle and the heavy load, the lifting point is used.
  • Abnormal load changes monitor the attitude of the connection slope between the lifting points to overcome the danger of lifting, and have universal applicability to the two- or three-lift lifting with clear force.
  • Lifting requirements are carried out under coordinated lifting.
  • the cranes cooperate with each other when lifting the two cranes;
  • the host and the auxiliary machine are synergistic parties when controlling the hoisting angle between the main and auxiliary machines.
  • the load variation between the main and auxiliary machines is determined by the lifting plan (the relative position of the lifting point and the center of gravity of the heavy object), so it is necessary to monitor the main and auxiliary machine cranes.
  • the change of the re-swing angle, due to the sway angle generated between the main and auxiliary machines, is inversely proportional to the hoisting load of the main and auxiliary machines.
  • the main and auxiliary machines should be hoisted by the auxiliary machine. If the angle is not greater than the allowable value, the crane will be vertically hoisted; at present, the lifting commander shall, according to the information provided by the hoisting conductor, monitor the position change of the hoisted weight, command the driver to manipulate the load to be evenly distributed, and hoist according to the monitoring. The information provided by the vertical hoister directs the driver to operate the vertical hoisting. Because the monitoring by the special person is neither timely nor accurate, the effective method for lifting the crane is to directly control the hoisting angle according to the hoisting angle of the real-time display. For cranes that need to control the load balance distribution, the crane is directly operated according to the real-time ratio of the synergistic load. If the normal hoisting load ratio is 1, the driver can Manipulating the ratio of the load hoist crane real target 1 Now lifted in a balanced manner.
  • a hoisting angle and hoisting load monitoring device which is characterized by:
  • the remote control switch is set in the crane operation room.
  • the remote control switch is arranged in the crane operation room and is equipped with three sets of three-channel switching swing angle receiving control devices for measuring the hoisting angle signal wireless transmitting device and the crane operating room;
  • a geomagnetic field measuring instrument is further disposed outside the angle measuring instrument on the platform surface.
  • the angle measuring instrument installed on the above-mentioned platform surface is a three-axis accelerometer, and the geomagnetic field measuring instrument installed is a three-axis magnetometer.
  • the operating room is equipped with a set of two-channel switching local load receiving control device and a set of two-channel switching cooperative load receiving control device, or installation
  • a three-channel remote control switch for three-machine and two-machine lifting, remote control switch is set in the crane operation room, and the wireless transmission device for measuring the hoist load signal is set and a set of three-channel switching is set in the crane operation room.
  • the above-mentioned load ratio processing display is provided with a load ratio liquid crystal display and load ratio exceeding the limit sound and light alarm
  • the same hoisting load detector should be installed on the crane and the cooperative crane, for example, on the crane, the hook hook end has been adopted.
  • a spacer load cell is installed between the fixing nut and the connecting beam to form a hoisting load detector, and the fixing nut is also installed between the fixing nut and the connecting beam at the end of the hook hook on the cooperative crane.
  • the backing ring load cell acts as a hoisting load detector.
  • the force is clear that the abnormal movement of the double-machine lifting load (lifting force, the same below) is that the slope of the connection line of the second suspension point deviates from the design value, and thus the operation is performed according to the ratio of the hoisting load between the main engines.
  • the crane can realize the normal distribution of the load, and can also monitor the slope of the connected line of the controlled host to realize the normal distribution of the load.
  • the designed connection point (equal height) is horizontal, it can be installed horizontally on the object to be lifted.
  • Wireless single-axis inclinometer and meets its requirements The axis is parallel with the connection line of the second suspension point.
  • the attitude receiving control device matched with the wireless single-axis inclinometer is installed in the crane operation room, and the normal distribution of the load is realized by monitoring the slope of the connection line of the second suspension point.
  • the wireless single-axis inclinometer can be installed on the object to be lifted, and the attitude receiving control device matched with the wireless single-axis inclinometer is installed in the crane operation room, and the load is normalized by monitoring the slope of the connection line of the second suspension point.
  • connection line of the second suspension point is not changed during the hoisting, because the connection line of the second suspension point in the hoisting is translated by the vertical plane of the connection line connecting the second suspension point, at this time, the horizontal line of the connection line of the second suspension point (The horizontal projection line of the second hanging point connection, the same below) also translates at the same speed, so it can be installed horizontally with the single-axis inclination measuring instrument in parallel with the horizontal line that meets the line connecting the sensitive axis and the second hanging point.
  • a hoisting angle, hoisting and coordinating partner monitoring device for cranes which is characterized in that: at least two gantry-weighted angle coordination monitoring devices and hoisting and heavy-duty cooperative monitoring devices are installed on the crane A device in which:
  • the hoisting angle synergy monitoring device includes
  • a geomagnetic field measuring instrument is further disposed outside the angle measuring instrument on the platform surface.
  • the angle measuring instrument installed on the above-mentioned platform surface is a two-axis angle sensor, and the geomagnetic field measuring instrument installed is a two-axis magnetometer.
  • the hoisting posture coordination party monitoring device includes
  • the wireless single-axis inclinometer is a wireless single-axis inclinometer with magnetic adsorption fixed and the surface of the instrument is always upwards and self-adjusting under the action of both sides being spliced and self-weighted.
  • a method for monitoring a sway angle, a sling load, or a sling attitude, for a crane characterized by:
  • the hoisting angle swing wireless transmitting device occupies one channel through the remote control switch provided in the crane operating room, and the hoisting heavy load wireless transmitting device occupies one Channel, only enable the swing angle receiving control device and the load receiving control device to receive the local channel.
  • each crane When the crane is selected for lifting:
  • the monitoring device of each crane activates the hoisting angle through the remote control switch provided in the crane operating room
  • the wireless transmitting device and the hoisting and payload wireless transmitting device respectively occupy one
  • the channel that is, each crane is remotely controlled by a remote control switch that is installed in the crane operating room to remotely hoist the swing angle wireless transmitting device, each occupying one channel, and each of them is remotely controlled by a remotely hoisted load wireless transmitting device installed in the crane operating room.
  • the switches each occupying one channel, of course, the channel of the hoisting angle wireless transmitting device is independent of the channel of the hoisting and heavy load wireless transmitting device), and the receiving control devices provided in the crane operating room are respectively switched to the local channel,
  • the hoisting angle and hoisting load of the machine are dynamically displayed outside the operating room of the machine.
  • the sway angle receiving control device and the load receiving control device of the receiving cooperative are switched to the cooperative crane channel, and the synergy hoisting angle is respectively
  • the hoisting load dynamics are displayed again in the local operating room
  • the remote control switch provided in the crane operation room occupies one channel, and only the swing angle receiving control device that receives the local channel is enabled.
  • the hoisting angle monitoring device of each crane occupies one channel through the remote control switch installed in the crane operation room.
  • the receiving control device installed in the crane operation room, except one set switches to the local channel, will be the local machine.
  • the hoisting angle is dynamically displayed outside the operating room of the machine, and the fulcrum receiving control device of the receiving partner is switched to the cooperative crane channel, and the coordinated hoisting angle is dynamically displayed in the local operating room, and the wireless single axis is simultaneously
  • the inclinometer is horizontally mounted on the object to be hoisted, and the sensitive axis of the uniaxial inclinometer is parallel to the horizontal line of the connected crane lifting point (the slope of the second crane hoisting point should be the design value, the inclinometer Displaying a tilt angle of 0°) and displaying a real-time hoisting posture by an attitude receiving control device installed in the crane operating room;
  • the main and auxiliary machines When the main and auxiliary machines are lifted by both machines, the main and auxiliary machines shall be vertically hoisted by the crane with the hoisting angle indicated by the auxiliary machine not exceeding the allowable value;
  • the main and auxiliary machines should use the hoisting angle shown by the auxiliary machine to be no more than the allowable value and compare the sway angle between the mainframes to operate the crane to realize vertical hoisting.
  • the single-axis inclinometer operating crane that steers the heavy load ratio to operate the crane to achieve normal load distribution, or monitors the line slope between the main lifting points, makes the single-axis inclinometer in a horizontal attitude to achieve normal load distribution;
  • the crane is used to realize the normal distribution of the load in the fixed interval, or the crane that receives the two single-axis inclinometers at the same time as the active machine and the other two as the driven motive.
  • the single-axis inclinometer is in a horizontal attitude. That is, the inclination angle is within the set interval to realize the normal distribution of the load by manipulating the crane.
  • a crane comprising: the hoisting angle, the hoisting load monitoring device, or the hoisting angle, the hoisting posture coordination monitoring device, and the hoisting weight Monitoring method for swing angle, hoisting load or hoisting attitude.
  • FIG. 1 Schematic diagram of crane lifting monitoring
  • Figure 4 Schematic diagram of single-axis inclinometer and U-shaped frame
  • the invention provides a hoisting angle, a hoisting load or a hoisting posture monitoring for the crane to prevent the slanting crane, the sling yaw and the vertical hoisting, in particular for the crane, which is suitable for single lifting and lifting operations.
  • the device, and the crane including the monitoring method and the device only need to be wirelessly transmitted through the channel switching in the operating room when lifting, and the hoisting angle, the hoisting load or the hoisting posture are displayed in the operating room of the machine, and are displayed at the same time. Collaborative operator room, then the driver can
  • the control crane eliminates the hoisting angle and realizes vertical hoisting.
  • the crane is used to realize the normal distribution of the load.
  • the invention is used in cranes, particularly for various types of mobile or engineering cranes.
  • the size of the guard plates on both sides of the moving crane lifting pulley is increased by 30 cm.
  • a beam is still fixed in the lower part of the guard plate.
  • the hook is fixed on the beam with a nut, and can be along the hook handle (with bearing) vertical axis. Turn. Therefore, the distance between the large pulley and the hook hook head is provided, and the space for installing the detecting device is provided at a position where the inside of the guard plate is vacant (the space is not occupied), and at the same time, the surrounding strong magnetic interference is relieved and the signal to be measured is facilitated.
  • Wireless transmission, the side shields on the movable pulley are made of FRP.
  • [0020] 2 fixedly disposed at a position vacant inside the shield, and the upper and lower two-layer platform surfaces which are arranged to meet the hoisting angle of 0 degrees are parallel (both non-magnetic) platforms,
  • the lower platform surface is centered to establish three-axis rectangular coordinates, a micro three-axis accelerometer is installed, three-axis rectangular coordinates are established in the upper platform surface, a micro three-axis magnetometer is installed, and a three-axis magnetometer is installed. It is located on the straight line with the Z axis of the three-axis accelerometer, and the X and Y axes are parallel, and a large-capacity battery is installed inside the other side shield to supply power to the device.
  • [0021] 3 in the vacant position inside the shield is installed with a set of two-channel remote control switching, remote control switch is set in the machine room, the device for wireless transmission of the measured hoisting angle signal and the set in the crane operating room A set of two channel switching receiving control devices.
  • the angle between the X-axis and the Y-axis and the horizontal plane of the inclination angle reflects the X-axis and Y-axis components of the hoisting angle.
  • the measured values of the axes of the three-axis accelerometer mounted on the slow moving object of the hook can be approximated. It is considered that the gravitational acceleration g is a component of each axis.
  • the inclinations a x and ct y of the X and Y axes are calculated as:
  • g x , g y , g z are the measured values of the three-axis MEMS accelerometer.
  • the three-axis magnetometer can output the current magnetic field strength values of the two orthogonal axes in the three-dimensional space.
  • the magnetometer passes the measurement ground.
  • the magnetic field strength determines the plane rotation angle of the hook.
  • the rotation angle can be calculated by:
  • the receiving control device is installed in the crane operating room, and includes a receiving control device that receives the motion state information and controls the liquid crystal display through the same data transmission module.
  • the real-time hoisting angle and the azimuth angle (in the direction of the north pole of the geomagnetic north pole) can be displayed in the crane operating room, and the scale of the electronic compass disposed in the operating room is observed, and the orientation is self-explanatory.
  • a special gasket type load cell is installed between the fixing nut at the end of the hook hook and the connecting beam, and the size of the guard plates on both sides of the pulley of the crane lifting pulley is increased by 30 cm, thereby expanding The pulley and the hook hook are spaced apart so that they can be vacant inside the guard
  • the location and the space are not occupied is equipped with a set of two-channel remote control switching, remote control switch set in the operating room of the device, the ring-type load cell output wireless transmitting device
  • a set of two-channel switching local load receiving control device and a set of two-channel switching cooperative load receiving control device are provided, and a set of load ratio display ratio display real-time load ratio is displayed.
  • the two input terminals of the processing display are respectively connected to the output terminals of the local load receiving control device and the cooperative load receiving control device.
  • the same crane should be installed on the crane and the cooperative crane.
  • the heavy load detector is also adopted on the cooperative crane because it has been installed on the crane with a spacer load cell between the fixing nut at the end of the hook hook and the connecting beam to form the hoisting load detector.
  • a spacer load cell is installed as a sling load detector between the fixing nut at the end of the hook hook and the connecting beam
  • the size of the guard plates on both sides of the moving crane lifting pulley is increased by 30 cm.
  • a beam is still fixed in the lower part of the guard plate.
  • the hook is fixed on the beam with a nut, and can be along the hook handle (with bearing) vertical axis. Turn. Therefore, the distance between the large pulley and the hook hook head is provided, and the space for installing the detecting device is provided at a position where the inside of the guard plate is vacant (the space is not occupied), and at the same time, the surrounding strong magnetic interference is relieved and the signal to be measured is facilitated.
  • Wireless transmission, the side shields on the movable pulley are made of FRP.
  • [0027] 2 fixedly disposed at a position vacant inside the shield plate to meet the hoisting angle of 0 degrees, the upper and lower two-layer platform faces are parallel and both horizontal planes (non-magnetic) platform, in the lower layer
  • a MEMS biaxial angle sensor for detecting a two-dimensional inclination angle of the platform surface with respect to a horizontal plane is disposed in the center of the platform surface, and a cross-corner coordinate is established in the upper platform surface, and a dual-axis magnetometer is installed, and Dual-axis magnetometer and biaxial angle
  • the X and Y axes of the sensor are parallel, and a large-capacity battery is installed inside the other side shield to supply power to the device.
  • a set of two-channel remote control switching, remote control switch is arranged in the operating room of the machine, and the device for wirelessly transmitting the measured hoisting angle signal is arranged and set in the crane operating room.
  • Two sets of two channel switching receiving control devices are arranged at the vacant position inside the guard plate.
  • the dual-axis tilt wireless acquisition is mainly composed of a sensor module, a wireless transmitting module, a wireless receiving module, and a PC.
  • the sensor module and the wireless transmitting module (with antenna) are mounted on the inside of the guard plate after the moving pulley guard is grown, and the wireless receiving module (with antenna) and the PC are installed in the crane operating room. Since the angle between the platform surface and the horizontal plane is equal to the hoisting angle, the X and Y axial components of the crane and the hoisting angle are respectively ⁇ , ⁇ ⁇ , a y , and the shell lj has:
  • the magnetometer determines the plane rotation angle of the hook by measuring the strength of the earth field.
  • the angle of rotation can be calculated by:
  • a device for processing a measured signal to wirelessly transmit including an information processing module using a single
  • the chip machine realizes the signal acquisition of the sensor and transmits the information through the data transmission module, and installs the receiving control device in the crane operation room, including the receiving control device that receives the motion state information and controls the liquid crystal display through the same data transmission module. Therefore, the real-time hoisting angle and the azimuth angle (in the north pole direction of the geomagnetic direction) can be displayed in the crane operating room, and the scale of the electronic compass set in the operating room is observed, and the orientation is self-explanatory.
  • the prepared magnetic adsorption fixed self-adjusting direction wireless single-axis inclinometer is horizontally mounted on the object to be lifted, and meets the sensitive axis of the single-axis inclinometer and the controlled two cranes.
  • the horizontal line of the hanging point connection is parallel (the slope of the second crane lifting point connection should be the design value, and the inclinometer shows the inclination angle of 0°).
  • a two-channel remote control switch and a remote control switch are arranged on the outer side of the movable pulley guard plate, and the wireless camera of the wireless transmitting device for measuring the sway angle signal is set in the operation room of the machine, and The wireless camera is aligned with the digital dual-axis inclinometer disk; and a large-capacity battery is placed inside the other side shield to power the device.
  • a set of two-channel switching local load receiving control device and a set of two-channel switching cooperative load receiving control device are provided, and a set of load ratio display ratio display real-time load ratio is displayed.
  • the two input terminals of the processing display are respectively connected to the output terminals of the local load receiving control device and the cooperative load receiving control device.
  • the fixed pulley type sensor converts the object hoist into an analog voltage signal, and is converted into a corresponding digital signal by a data acquisition board, amplified, filtered, A/D, and transmitted to the data processing board via wireless data transmission, and displayed by the screen.
  • the other input load ratio is compared with the processing display.
  • the same hoist load detector should be installed on the crane and the cooperative crane, because it is already on the crane Take a fixed pulley-type sensor between the fixed pulley and the fixed point of the boom at the end of the crane boom to form a hoisting load detector, so it is reinforced at the coordination side.
  • the machine also adopts a fixed pulley-type sensor between the fixed pulley and the fixed point of the boom as the hoisting load detector.
  • a monitoring method for hoisting angle, hoisting load or hoisting posture, used for cranes the features of which are:
  • the hoisting angle swing wireless transmitting device occupies one channel through the remote control switch provided in the crane operating room, and the hoisting heavy load wireless transmitting device occupies one Channel, only enable the swing angle receiving control device and the load receiving control device to receive the local channel.
  • each crane When the crane is selected for lifting:
  • the monitoring device of each crane activates the hoisting angle through the remote control switch provided in the crane operating room
  • the wireless transmitting device and the hoisting and heavy-duty wireless transmitting device respectively occupy one channel (that is, each crane passes through a remote control switch of a remote transmitting swaying wireless transmitting device installed in the crane operating room, each occupying one channel, and each passing through A remote control switch for remotely hoisting a heavy-duty wireless transmitting device in a crane operating room, each occupying one channel, of course, the channel of the hoisting angle wireless transmitting device is independent of the channel of the hoisting heavy-duty wireless transmitting device, and is disposed in the crane operating room.
  • Each of the receiving control devices is switched to one set to Channel machine, the unit angle of swing hoist, the hoist load in a dynamic display of the present
  • the machine is operated outside, and the rake angle receiving control device and the load receiving control device of the receiving synergy are switched to the cooperative crane channel, and the coordinated hoisting angle and the hoisting load dynamic state are respectively displayed in the local operating room.
  • the wireless single-axis inclinometer is horizontally mounted on the object to be lifted, and the sensitive axis of the single-axis inclinometer is parallel to the horizontal line of the connected crane lifting point (at this time, the crane crane is connected).
  • the line slope should be the design value
  • the inclinometer displays the inclination angle of 0°)
  • the real-time lifting posture is displayed by the attitude receiving control device installed in the crane operating room.
  • the main crane hoisting angle steering crane is compared to realize the vertical lifting, and the crane is used to realize the normal load distribution according to the ratio of the load between the main engines, or to monitor the connection slope between the main lifting points.
  • the single-axis inclinometer operates the crane to make the single-axis inclinometer in a horizontal attitude to achieve normal load distribution;
  • the main and auxiliary machines When the main and auxiliary machines are lifted by both machines, the main and auxiliary machines shall be vertically hoisted by the crane with the hoisting angle indicated by the auxiliary machine not exceeding the allowable value;
  • the main and auxiliary machines should use the hoisting angle shown by the auxiliary machine to be no more than the allowable value and compare the sway angle between the mainframes to operate the crane to realize vertical hoisting.
  • the single-axis inclinometer operating crane that steers the heavy load ratio to operate the crane to achieve normal load distribution, or monitors the line slope between the main lifting points, makes the single-axis inclinometer in a horizontal attitude to achieve normal load distribution;

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

一种用于起重机的吊重摆角、吊重载荷或吊重姿态的监测方法与监测装置及包括上述监测装置的起重机，属于起重机领域，目的是为防止斜吊、控制吊重偏摆和实现垂直吊装，尤其是为起重机抬吊提供一种既适用于单机吊装又适用于抬吊作业的吊重摆角、吊重载荷或吊重姿态的监测装置，和包括上述监测装置的起重机，抬吊时只需在操作室通过频道切换经无线传输，将吊重摆角、吊重载荷或吊重姿态既显示于本机操作室，同时又显示于协同方操作室，司机便可依据屏幕上显示的抬吊双方吊重摆角动态，控制起重机消除吊重摆角实现垂直吊装，依据显示的实时吊重载荷比值或吊重姿态操纵起重机实现载荷的正常分配。

Description

吊 角、 吊 ¾¾荷或吊重姿态的监测方法与装置及起
[0001] 技术领域： 吊重摆角、 吊重载荷或吊重姿态的监测方法与装 置及起重机， 属于起重机技术领域， 特别涉及一种用于起重机的吊重 摆角、 吊重载荷或吊重姿态的监测方法与装置。本发明还涉及一种包 括上述吊重摆角、 吊重载荷或吊重姿态的监测方法与装置的起重机。
[0002] 背景技术： 起重机要求垂直吊装， 起重施工规范规定 "使用 流动式起重机起吊工件时吊钩偏角不应超过 3度"， 然而起重机迄今 均未设垂直吊装显示， 从而司机无法判断其吊钩是否处于垂直状态， 尤其是抬吊时而要由吊装指挥者，依据监视被吊重物垂直吊装者提供 的信息指挥司机操纵消除吊重摆角（通过吊钩的提升滑轮组的提升力 作用线偏离铅垂线的角度， 即吊钩偏角， 下同）， 依据监视被吊重物 所处姿态变化者提供的信息， 指挥司机操纵均衡抬吊， 既不及时又准 确； ZL201020151064. 9 起重机抬吊监控系统， （图 1所示） "装设垂 直测量装置 4用于测量被吊物体与起重机垂直姿态，用水平测量装置 3测量被吊物体水平姿态， 垂直测量装置与水平测量装置分别与测量 监控装置通过信号链路连接"但是上述监控存在关键技术不清楚，如 垂直测量装置 4用于测量被吊物体与起重机的垂直姿态只是设想，却 没有提出如何将垂直测量装置 4安装在运行中的起升滑轮组提升钢 丝绳索上的方案；用水平测量装置 3测量被吊物体的水平姿态不清 楚， 如被吊物体是台锅炉 "水平姿态"怎么设定？双机滑移抬吊或三 机抬吊塔类设备 "水平姿态" 怎么设定？ ； ZL201110148371. 0吊车 抬吊风险动态于协同方显示设置， 采用三频道可切换无线摄像头，和 与其配套的接收机显示器将已装设于起重机操作室的吊重摆角、吊重 载荷再显示于协同方起重机操作室。上述协同方显示方案是针对起重 机操作室已有吊重摆角、吊重载荷显示而提出采用三频道可切换无线 摄像头将其再显示于协同方起重机操作室，对于未在起重机操作室装 设吊重摆角、 吊重载荷显示者不适用， 尤其是起重机上迄今却均未设 吊重摆角显示， 故只是一种设想， 且即使各起重机操作室已装设吊重 摆角、 吊重载荷显示也难以是用相同的检测装置得到的， 严重影响与 协同方的可比性， 以及监测方法未明确等。
[0003] 发明内容 ： 本发明的目的是为防止斜吊、控制吊重偏摆和 实现垂直吊装以及起重机抬吊提供既适用于单机吊装又适用于抬吊 作业的吊重摆角、 吊重载荷或吊重姿态的监测方法与装置。
[0004] 另一目的是提供一种包括上述吊重摆角、吊重载荷或吊重姿 态的监测方法与装置的起重机。
[0005] 本发明中吊重摆角是指通过吊钩的起（提）升滑轮组的提升 力作用线偏离铅垂线的角度， 即吊钩偏角， 本申请文件中的滑轮护板 是将位于滑轮两侧的、 支持连接滑轮轴、 吊钩轴的称为护板、 夹板、 轭板、 连接板等统称为滑轮护板。
[0006] 单机吊装与抬吊都是流动式或工程起重机吊装基本作业，且 受力明确的吊装独立吊点数只能 3， 因而一般是双机或三机抬吊， 依据吊装数学模型 （林汉丁.起重吊装受力控制的数学模型 [J]，南京 建筑工程学院学报， 1996 (4) 72-77， 下同）抬吊的危险一是来自不垂 直吊装， 二是来自起重机载荷超常（超吊装设计值）变动， 当双机抬 吊的二吊点位置确定之后， 吊装中二吊点载荷超常变动， 只来自二吊 点连线斜率偏离设计值，二主机一辅机的三机抬吊的三吊点位置确定 之后， 控制吊装中二主机吊点载荷超常变动， 可以比较二主机载荷变 化操纵起重机， 也可以二主机吊点连线斜率不变为目标操纵起重机， 因而依据吊重摆角、吊重载为避勉吊点间载荷超常变动对吊点间连线 斜率姿态监测，以克服抬吊的危险，对于受力明确的双机或三机抬吊， 具有普遍的适用性。
[0007] 抬吊要求在协同吊装下进行，当控制起重机间吊重载荷变动 或起重机间吊重摆角变动，双机抬吊时起重机间互为协同方； 设二主 机滑移抬吊时二主机间互为协同方；当控制主、 辅机间吊重摆角变动 时， 主机与辅机间互为协同方。 设主、 辅机双机将立式重物抬吊竖直 时， 主、 辅机间载荷变动由吊装方案 （吊点与重物重心相对位置）确 定， 因而需要监测的是主、 辅机吊重摆角的变动， 由于主、 辅机间产 生的吊重摆角大小，约与主、辅机各自承担的吊重载荷成反比，故主、 辅机均应以辅机显示的吊重摆角不大于允许值为前提操纵起重机实 现垂直吊装；目前抬吊时要由吊装指挥者， 依据监视被吊重物所处姿 态变化者提供的信息， 指挥司机操纵载荷均衡分配， 依据监视被吊重 物垂直吊装者提供的信息指挥司机操纵垂直吊装，由于设专人监视既 不及时又不准确，故对于起重机抬吊有效的办法是直接依据实时显示 的吊重摆角操纵起重机消除吊重摆角，对于需控制载荷均衡分配的起 重机， 直接依据与协同方载荷的实时比值操纵起重机， 如正常的双方 吊重载荷比值为 1， 司机即可按吊重载荷比值 1为目标操纵起重机实 现均衡抬吊。
[0008] 一种吊重摆角、 吊重载荷监测装置， 其特点是：
(1) 装设吊重摆角监测装置
①在起重机起升滑轮组动滑轮护板外侧上或增加动滑轮两侧护板长 度尺寸，在所增长出的两侧护板内侧空置的位置上固定装设满足吊重 摆角 0°时所设的平台面为水平面的平台， 在所述的平台面上装设角 度测量仪；
②在起重机起升滑轮组动滑轮护板上或在增加动滑轮两侧护板长度 尺寸后的护板内侧上装设用于双机抬吊的一套二频道遥控切换、遥控 开关设于起重机操作室的将所测吊重摆角信号无线发射装置及在起 重机操作室配套装设二套二频道切换的摆角接收控制装置，或装设用 于三机、双机抬吊的一套三频道遥控切换、遥控开关设于起重机操作 室的将所测吊重摆角信号无线发射装置及在起重机操作室配套装设 三套三频道切换的摆角接收控制装置；
优选地， 上述的平台面上装设角度测量仪外还装设地磁场测量仪。
[0009] 优选地， 上述的平台面上装设的角度测量仪是三轴加速度 计， 装设的地磁场测量仪是三轴磁強计。
[0010] (2) 装设吊重载荷监测装置
①在起重机上装设吊重载荷检测器， 并装设用于双机抬吊的、一套二 频道遥控切换、遥控开关设于起重机操作室的将所测吊重载荷信号无 线发射装置及在起重机操作室配套装设一套二频道切换的本机载荷 接收控制装置与一套二频道切换的协同方载荷接收控制装置，或装设 用于三机、双机抬吊的一套三频道遥控切换、遥控开关设于起重机操 作室的将所测吊重载荷信号无线发射装置及在起重机操作室配套装 设一套三频道切换的本机载荷接收控制装置与二套三频道切换的协 同方载荷接收控制装置；
②在起重机操作室至少装设一套显示实时载荷比值的载荷比处理显 示器，载荷比处理显示器的二个输入端分别与本机载荷接收控制装置 的输出端及协同方载荷接收控制装置的输出端连接，二者输入信号依 载荷比值=协同方载荷 I本机载荷， 经 PC机处理在液晶显示器 (LCD)上显示实时的载荷比值。
[0011] 优选地， 上述的载荷比处理显示器， 且设有载荷比液晶显示 与载荷比值超限声光报警
优选地， 为提高实时本机载荷与协同方载荷的可比性， 在起重机与协 同方起重机上均应装设相同的所述吊重载荷检测器，如在起重机上已 采取在吊钩钩头端部的固定螺母和连接横梁之间装设垫环式称重传 感器以构成吊重载荷检测器，则在协同方起重机上也采取在吊钩钩头 端部的固定螺母和连接横梁之间装设垫环式称重传感器作为吊重载 荷检测器。
[0012] 依据吊装数学模型，受力明确双机抬吊载荷（抬吊力，下同） 的超常变动， 是二吊点连线的斜率偏离设计值， 因而除了依据主机间 吊重载荷比值操纵起重机实现载荷正常分配外，还可以监测被控主机 二吊点连线的斜率实现载荷的正常分配， 当所设计的二吊点连线（等 高）呈水平时可以在被吊物体上水平装设无线单轴倾角仪， 且满足其 轴线与二吊点连线相平行，在起重机操作室装设与无线单轴倾角仪配 套的姿态接收控制装置，通过监测二吊点连线的斜率实现载荷的正常 分配，当二吊点连线不呈水平时仍可以在被吊物体上装设无线单轴倾 角仪，在起重机操作室装设与无线单轴倾角仪配套的姿态接收控制装 置， 通过监测二吊点连线的斜率实现载荷的正常分配， 这是因为旨在 吊装中不改变二吊点连线的斜率，因吊装中二吊点连线在通过二吊点 连线的铅垂面平移时， 此时二吊点连线的水平线（二吊点连线的水平 投影线， 下同） 也以相同的速度平移， 故可以用单轴倾角测量仪，在 满足其敏感轴与二吊点连线的水平线相平行条件下，水平装设于被吊 物体上 （此时二主机吊点连线斜率为设计值， 倾角仪显示倾角 0° ) , 吊装中维持单轴倾角测量仪呈水平姿态 （倾角 0°， 下同） 以实现二 吊点的同歩提升与克服二吊连线的斜率偏离设计值。 为此： 一种吊重摆角、 吊重姿态协同方监测装置， 用于起重机， 其特点是： 起重机上至少装设吊重摆角协同方监测装置与吊重姿态协同方监测 装置二项装置中的一项装置， 其中：
吊重摆角协同方监测装置包括
①增加起重机起升滑轮组动滑轮两侧护板长度尺寸，在所增长出的两 侧护板内侧空置的位置上固定装设满足吊钩偏角 0°时所设的平台面 为水平面的平台， 在所述的平台面上装设角度测量仪；
②在起重机起升滑轮组动滑轮护板内侧空置的位置上装设用于双机 抬吊的一套二频道遥控切换、遥控开关设于起重机操作室的将所测吊 重摆角信号无线发射装置及在起重机操作室配套装设二套二频道切 换的摆角接收控制装置， 或装设用于三机、双机抬吊的一套三频道遥 控切换、遥控开关设于起重机操作室的将所测吊重摆角信号无线发射 装置及在起重机操作室配套装设三套三频道切换的摆角接收控制装 置；
优选地， 上述的平台面上装设角度测量仪外还装设地磁场测量仪。
[0013] 优选地，上述的平台面上装设的角度测量仪是双轴角度传感 器， 装设的地磁场测量仪是双轴磁強计。
[0014] 吊重姿态协同方监测装置包括
①在起重机操作室配备一套无线单轴倾角仪，当装设于被吊物体上无 线单轴倾角仪的敏感轴线与被控二起重机吊点连线的水平线相平行，
②在起重机操作室装设与无线单轴倾角仪配套的姿态接收控制装置。
[0015] 优选地，所述无线单轴倾角仪是具有磁性吸附固定且在两侧 绞接与自重作用下， 仪表面始终朝上自调方向的无线单轴倾角仪。
[0016] 一种吊重摆角、 吊重载荷或吊重姿态的监测方法， 用于起重 机， 其特点是：
(1) 监测装置的启用
①当装设吊重摆角、 吊重载荷监测装置， 单机吊装时： 通过设于起重 机操作室的遥控开关启用吊重摆角无线发射装置占用一个频道，以及 启用吊重载荷无线发射装置占用一个频道，同时只启用接收本机频道 的摆角接收控制装置以及载荷接收控制装置， 当起重机选作抬吊时： 每台起重机的监测装置分别通过设于起重机操作室的遥控开关启用 吊重摆角无线发射装置以及吊重载荷无线发射装置，分别各佔用一个 频道（即每台起重机分别各通过设于起重机操作室遥控吊重摆角无线 发射装置的遥控切换开关， 各佔用一个频道， 分别各通过设于起重机 操作室遥控吊重载荷无线发射装置的遥控切换开关， 各佔用一个频 道，当然吊重摆角无线发射装置的频道与吊重载荷无线发射装置的频 道无关）， 设于起重机操作室的接收控制装置分别各除一套切换至本 机频道， 将本机吊重摆角、 吊重载荷动态显示于本机操作室外， 同时 将接收协同方的摆角接收控制装置、载荷接收控制装置切换至协同方 起重机频道， 分别将协同方吊重摆角、 吊重载荷动态再显示于本机操 作室
② 当装设吊重摆角、 吊重姿态协同方监测装置， 单机吊装时： 通过 设于起重机操作室的遥控开关佔用一个频道，只启用接收本机频道的 摆角接收控制装置， 起重机选作抬吊时： 每台起重机的吊重摆角监测 装置分别通过设于起重机操作室的遥控开关各佔用一个频道，设于起 重机操作室的接收控制装置除一套切换至本机频道，将本机吊重摆角 动态显示于本机操作室外，将接收协同方的摆角接收控制装置切换至 协同方起重机频道， 将协同方吊重摆角动态再显示于本机操作室，同 时将无线单轴倾角仪水平装设于被吊物体上，且满足单轴倾角仪的敏 感轴线与被控二起重机吊点连线的水平线相平行（此时二起重机吊点 连线斜率应为设计值， 倾角仪显示倾角 0° ) , 并通过装设于起重机操 作室的姿态接收控制装置显示实时吊重姿态；
(2)协同吊装的作法是：
①双主机抬吊或双主机滑移抬吊时，比较主机间吊重摆角操纵起重机 实现垂直吊装， 依主机间吊重载荷比值操纵起重机实现载荷正常分 配，或监测主机吊点间连线斜率的单轴倾角仪操纵起重机使单轴倾角 仪呈水平姿态实现载荷正常分配；
②主、 辅机双机抬吊时， 主、 辅机均应以辅机显示的吊重摆角不大于 允许值为前提操纵起重机实现垂直吊装；
③双主机单辅机抬吊时， 主、辅机均应以辅机显示的吊重摆角不大于 允许值为前提并比较主机间吊重摆角以操纵起重机实现垂直吊装，同 时依主机间吊重载荷比值操纵起重机实现载荷正常分配，或监测主机 吊点间连线斜率的单轴倾角仪操纵起重机使单轴倾角仪呈水平姿态 实现载荷正常分配；
④ 控制三机载荷均衡抬吊时， 比较三机间吊重摆角操纵起重机实现 垂直吊装， 同时确定一台为主动机二台为从动机， 主动机提升时从动 机使吊重载荷比值在设定区间内以操纵起重机实现载荷正常分配，或 将同时接收二个单轴倾角仪吊重姿态的起重机作为主动机另二台为 从动机，主动机提升时从动机使单轴倾角仪呈水平姿态即倾角在设定 区间内以操纵起重机实现载荷正常分配。
[0017] 一种起重机， 其特点是， 包括所述的吊重摆角、 吊重载荷监 测装置， 或包括所述的吊重摆角、 吊重姿态协同方监测装置， 以及所 述的吊重摆角、 吊重载荷或吊重姿态的监测方法。
附图说明
[0018] 图 1起重机抬吊监控示意图
图 2吊重摆角协同方显示框图 图 3吊重载荷协同方显示框图
图 4单轴倾角仪与 U形架绞接示意图
本发明为防止斜吊、控制吊重偏摆和实现垂直吊装、尤其是为起重机 提供一种既适用于单机吊装又适用于抬吊作业的吊重摆角、吊重载荷 或吊重姿态的监测装置， 和包括监测方法与装置的起重机， 抬吊时只 需在操作室通过频道切换经无线传输， 将吊重摆角、 吊重载荷或吊重 姿态既显示于本机操作室， 同时显示于协同方操作室， 届时司机便可
"知已知彼"依据屏幕上显示的抬吊双方吊重摆角动态， 控制起重机 消除吊重摆角实现垂直吊装，依据显示的实时吊重载荷比值或吊重姿 态操纵起重机实现载荷的正常分配。本发明用于起重机， 尤其适用于 各种类型流动式或工程起重机。
[0019]具体实施方式
1. 一种吊重摆角、 吊重载荷监测装置
(1)装设吊重摆角三轴加速度计监测装置
①首先将流动式起重机起升滑轮组动滑轮两侧护板尺寸各增长 30公 分， 在护板下部仍保持固定一横梁， 吊钩用螺母固定在横梁上， 可沿 钩柄 （配有轴承） 垂直轴线转动。 从而拉大滑轮与吊钩钩头间距，提 供了在护板内侧空置（该处及空间未被占用）的位置上装设检测装置 的空间， 同时为减轻周边強磁干扰以及有利于将所测信号无线发射， 将动滑轮两侧护板改用玻璃钢制造。
[0020] ②在护板内侧空置的位置上固定装设满足吊重摆角 0度时 所设的上、 下二层平台面相平行且均为水平面的 （无磁性） 平台，在 所述的下层平台面居中建立三轴直角坐标， 装设微三轴加速度计，在 所述的上层平台面居中建立三轴直角坐标， 装设微三轴磁強计， 且三 轴磁強计与三轴加速度计的 Z轴线位于一直线上， X、 Y轴线相平行， 并在另一侧护板内侧装设大容量电池对装置供电。
[0021] ③在护板内侧空置的位置上装设一套二频道遥控切换、遥控 开关设于本机操室的将所测吊重摆角信号无线发射的装置及在起重 机操作室配套装设二套二频道切换的接收控制装置。
[0022] 倾角 X轴和 Y轴与水平面的夹角，反映吊重摆角于 X轴向和 Y轴向分量， 在吊钩缓慢运动物体上安装的三轴加速度计的各轴测量 值可近似认为是重力加速度 g在各轴的分量， 按照空间矢量合成原 理， X、 Y轴的倾角 a x、 ct y计算分别为：
Figure imgf000013_0001
式中： gx、 gy、 gz为三轴 MEMS加速度计的测量值三轴磁強计可以 输出立体空间内两两正交的 3个轴的当前磁场強度值，磁強计通过测 量地磁场強度确定吊钩平面旋转角， 旋转角可以通过下式计算：
Φ二 arctan (YH) I (XH)
式中： XH、 YH 磁強计读出的 X、 Y轴磁 场強度。
[0023] 现以初始角度取地磁北极方向，则可确定吊钩挂载后相对地 磁北极方向的旋转角度 （由于周边強磁干扰应对旋转角誤差补偿）、 用三轴 MEMS加速度计， 三轴微磁強计， 将所测信号处理无线发射的 装置，包括信息处理模块使用单片机实现对传感器的信号采集和姿态 解算， 通过数传模块将信息发送
④在起重机操作室装设接收控制装置，包括通过相同的数传模块接收 运动状态信息并控制液晶显示的接收控制装置。
[0024] 因而可在起重机操作室显示实时的吊重摆角和（以地磁北极 方向为初始角的） 方位角， 经观察设置于操作室的电子罗盘的刻度， 方位自明。
[0025] (2)装设吊重载荷垫环式称重传感器监测装置
①首先在吊钩钩头端部的固定螺母和连接横梁之间装设特制的垫环 式称重传感器，并利用已将起重机起升滑轮组动滑轮两侧护板尺寸各 增长 30公分， 从而拉大滑轮与吊钩钩头间距， 故可在护板内侧空置
(该处及空间未被占用）的位置上装设一套二频道遥控切换的、遥控 开关设于本机操室的将垫环式称重传感器输出无线发射的装置
②在起重机操作室配套装设一套二频道切换的本机载荷接收控制装 置与一套二频道切换的协同方载荷接收控制装置，同时装设一套显示 实时载荷比值的载荷比处理显示器，载荷比处理显示器的二个输入端 分别与本机载荷接收控制装置及协同方载荷接收控制装置的输出端 连接。
[0026] 垫环式称重传感器将物体吊重转换成模拟电压信号，经数据 采集板、 放大、 滤波、 A / D转换成相应数字信号， 经无线数据传输 送到数据处理板， 由屏幕显示， 另一路输入载荷比处理显示器， 经与 协同方载荷输入比较， 依载荷比值 =协同方载荷 /本机载荷， 经 PC机 处理在液晶显示器 (LCD)上显示实时的载荷比值， 且设有载荷比液晶 显示与载荷比值超限声光报警为提高实时本机载荷与协同方载荷的 可比性，在起重机与协同方起重机上均应装设相同的所述吊重载荷检 测器，由于在起重机上已采取在吊钩钩头端部的固定螺母和连接横梁 之间装设垫环式称重传感器以构成吊重载荷检测器，故在协同方起重 机上也采取在吊钩钩头端部的固定螺母和连接横梁之间装设垫环式 称重传感器作为吊重载荷检测器
2. —种吊重摆角、 吊重姿态协同方监测装置
(1) 装设吊重摆角双轴角度传感器协同方监测装置
①首先将流动式起重机起升滑轮组动滑轮两侧护板尺寸各增长 30公 分， 在护板下部仍保持固定一横梁， 吊钩用螺母固定在横梁上， 可沿 钩柄 （配有轴承） 垂直轴线转动。 从而拉大滑轮与吊钩钩头间距，提 供了在护板内侧空置（该处及空间未被占用）的位置上装设检测装置 的空间， 同时为减轻周边強磁干扰以及有利于将所测信号无线发射， 将动滑轮两侧护板改用玻璃钢制造。
[0027] ②在护板内侧空置的位置上固定装设满足吊重摆角 0度时 所设的上、 下二层平台面相平行且均为水平面的 （无磁性） 平台，在 所述的下层平台面居中建立十字直角坐标，装设检测所述的平台面相 对于水平面二维倾角的 MEMS双轴角度传感器， 在所述的上层平台面 居中建立十字直角坐标， 装设双轴磁強计， 且双轴磁強计与双轴角度 传感器 X、 Y轴线相平行， 并在另一侧护板内侧装设大容量电池对装 置供电。
[0028] ③ 在护板内侧空置的位置上装设一套二频道遥控切换的、 遥控开关设于本机操室的将所测吊重摆角信号无线发射的装置及在 起重机操作室配套装设二套二频道切换的接收控制装置。
[0029] 双轴倾角无线采集主要由传感器模块， 无线发射模块， 无线 接收模块， PC机 4部分组成。 传感器模块和无线发射模块 （配天线） 装设于动滑轮护板增长后的护板内侧上， 无线接收模块（配天线）和 PC机装设于起重机操作室。 由于所述平台面与水平面间夹角数值上 等于吊重摆角， 设起重机及吊重摆角其 X 、 Y轴向分量， 分别为 α、 α χ、 a y ， 贝 lj有：
(sin α )2 = (sin α x)2 + (sin a y)2 又由于吊重 摆角只在几度内检测控制， 如 6度为
0.1047 因而 （ax)2 + ( ci y)2 ^(a)2
磁強计通过测量地磁场強度确定吊钩平面旋转 角， 旋转角可以通过下式计算：
Φ二 arctan (YH) I (XH)
式中： XH、 YH — 磁強计读出的 X、 Y轴磁 场強度。
[0030] 现以初始角度取地磁北极方向，则可确定吊钩挂载后相对地 磁北极方向的旋转角度，由于周边強磁干扰应对旋转角誤差补偿。
[0031] 将所测信号处理无线发射的装置，包括信息处理模块使用单 片机实现对传感器的信号采集通过数传模块将信息发送，在起重机操 作室装设接收控制装置，包括通过相同的数传模块接收运动状态信息 并控制液晶显示的接收控制装置。因而可在起重机操作室显示实时的 吊重摆角和（以地磁北极方向为初始角的）方位角， 经观察设置于操 作室的电子罗盘的刻度， 方位自明。
[0032] (2) 装设吊重姿态协同方监测装置
①在起重机操作室准备一套磁性吸附固定自调方向的无线单轴倾角 仪， 如图 4所示， 无线单轴倾角仪二端与磁吸固定 U形架绞接， 在回 转绞与倾角仪（偏心） 自重作用下， 仪表面自调方向始终朝上， 磁吸 固定 U形架在底部及前下侧向设有磁铁以便固定于被吊物体上
②在起重机操作室装设与无线单轴倾角仪配套的姿态接收控制装置。
[0033] ③当需要监测抬吊载荷分配时，将准备的磁性吸附固定自调 方向无线单轴倾角仪水平装设于被吊物体上，且满足单轴倾角仪的敏 感轴线与被控二起重机吊点连线的水平线相平行（此时二起重机吊点 连线斜率应为设计值， 倾角仪显示倾角 0° )。
[0034] 3. 另一种吊重摆角、 吊重载荷监测装置
(1) 装设吊重摆角监测装置
①在起重机起升滑轮组动滑轮护板外侧上固定装设满足吊重摆角 0° 时所设的平台面为水平面的平台，在所述的平台面居中建立十字垂直 坐标， 装设数显双轴倾角仪
②同时在动滑轮护板外侧上装设一套二频道遥控切换、遥控开关设于 本机操作室的将所测吊重摆角信号无线发射装置的无线摄像头，且将 无线摄像头对准数显双轴倾角仪盘面；并在另一侧护板内侧装设大容 量电池对装置供电。
[0035] ③在起重机操作室配套装设二套二频道切换的摆角接收控 制装置
(2)装设吊重载荷定滑轮座式传感器监测装置
①首先在起重机吊臂尾部的定滑轮与吊臂固定点间安装定滑轮座式 传感器， 同时在吊臂尾部装设一套二频道遥控切换、遥控开关设于本 机操室的、 将定滑轮座式传感器输出无线发射的装置
②在起重机操作室配套装设一套二频道切换的本机载荷接收控制装 置与一套二频道切换的协同方载荷接收控制装置，同时装设一套显示 实时载荷比值的载荷比处理显示器，载荷比处理显示器的二个输入端 分别与本机载荷接收控制装置及协同方载荷接收控制装置的输出端 连接。
[0036] 定滑轮座式传感器将物体吊重转换成模拟电压信号，经数据 采集板、 放大、 滤波、 A / D转换成相应数字信号， 经无线数据传输 送到数据处理板， 由屏幕显示， 另一路输入载荷比处理显示器， 经与 协同方载荷输入比较， 依载荷比值 =协同方载荷 /本机载荷， 经 PC机 处理在液晶显示器 (LCD)上显示实时的载荷比值， 且设有载荷比液晶 显示与载荷比值超限声光报警为提高实时本机载荷与协同方载荷的 可比性，在起重机与协同方起重机上均应装设相同的所述吊重载荷检 测器，由于在起重机上已采取在起重机吊臂尾部的定滑轮与吊臂固定 点间安装定滑轮座式传感器以构成吊重载荷检测器，故在协同方起重 机上也采取在（起重机吊臂尾部）定滑轮与吊臂固定点间安装定滑轮 座式传感器作为吊重载荷检测器
一种吊重摆角、 吊重载荷或吊重姿态的监测方法， 用于起重机， 其特 点是：
(1) 监测装置的启用
①当装设吊重摆角、 吊重载荷监测装置， 单机吊装时： 通过设于起重 机操作室的遥控开关启用吊重摆角无线发射装置占用一个频道，以及 启用吊重载荷无线发射装置占用一个频道，同时只启用接收本机频道 的摆角接收控制装置以及载荷接收控制装置， 当起重机选作抬吊时： 每台起重机的监测装置分别通过设于起重机操作室的遥控开关启用 吊重摆角无线发射装置以及吊重载荷无线发射装置，分别各佔用一个 频道（即每台起重机分别各通过设于起重机操作室遥控吊重摆角无线 发射装置的遥控切换开关， 各佔用一个频道， 分别各通过设于起重机 操作室遥控吊重载荷无线发射装置的遥控切换开关， 各佔用一个频 道，当然吊重摆角无线发射装置的频道与吊重载荷无线发射装置的频 道无关）， 设于起重机操作室的接收控制装置分别各除一套切换至本 机频道， 将本机吊重摆角、 吊重载荷动态显示于本
机操作室外， 同时将接收协同方的摆角接收控制装置、载荷接收控制 装置切换至协同方起重机频道， 分别将协同方吊重摆角、 吊重载荷动 态再显示于本机操作室
② 当装设吊重摆角、 吊重姿态协同方监测装置， 单机吊装时： 通过 设于起重机操作室的遥控开关佔用一个频道，只启用接收本机频道的 摆角接收控制装置， 起重机选作抬吊时： 每台起重机的吊重摆角监测 装置分别通过设于起重机操作室的遥控开关各佔用一个频道，设于起 重机操作室的接收控制装置除一套切换至本机频道，将本机吊重摆角 动态显示于本机操作室外，将接收协同方的摆角接收控制装置切换至 协同方起重机频道， 将协同方吊重摆角动态再显示于本机操作室，同 时将无线单轴倾角仪水平装设于被吊物体上，且满足单轴倾角仪的敏 感轴线与被控二起重机吊点连线的水平线相平行（此时二起重机吊点 连线斜率应为设计值， 倾角仪显示倾角 0° ) , 并通过装设于起重机操 作室的姿态接收控制装置显示实时吊重姿态
(2)协同吊装的作法是：
①双主机抬吊或双主机滑移抬吊时，比较主机间吊重摆角操纵起重机 实现垂直吊装， 依主机间吊重载荷比值操纵起重机实现载荷正常分 配，或监测主机吊点间连线斜率的单轴倾角仪操纵起重机使单轴倾角 仪呈水平姿态实现载荷正常分配；
②主、 辅机双机抬吊时， 主、 辅机均应以辅机显示的吊重摆角不大于 允许值为前提操纵起重机实现垂直吊装；
③双主机单辅机抬吊时， 主、辅机均应以辅机显示的吊重摆角不大于 允许值为前提并比较主机间吊重摆角以操纵起重机实现垂直吊装，同 时依主机间吊重载荷比值操纵起重机实现载荷正常分配，或监测主机 吊点间连线斜率的单轴倾角仪操纵起重机使单轴倾角仪呈水平姿态 实现载荷正常分配；
④控制三机载荷均衡抬吊时，比较三机间吊重摆角操纵起重机实现垂 直吊装， 同时确定一台为主动机二台为从动机， 主动机提升时从动机 使吊重载荷比值在设定区间内以操纵起重机实现载荷正常分配，或将 同时接收二个单轴倾角仪吊重姿态的起重机作为主动机另二台为从 动机，主动机提升时从动机使单轴倾角仪呈水平姿态即倾角在设定区 间内以操纵起重机实现载荷正常分配。
[0037] 应当说明以上所述是本发明的优选实施方式 1-4只是举例， 对于本领域普通技术人员，按本发明所作出的若干更改和润饰也应视 为本发明的保护范围。

Claims

权利要求书
1. 一种吊重摆角、 吊重载荷监测装置， 用于起重机， 其特征是，
(1)装设吊重摆角监测装置
在起重机起升滑轮组动滑轮护板外侧上或增加起重机起升滑轮组 动滑轮两侧护板长度尺寸， 在所增长的两侧护板内侧空置的位置上：
①固定装设满足吊重摆角 0°时所设的平台面为水平面的平台， 在 所述的平台面上装设角度测量仪；
②装设一套二频道遥控切换的、 遥控开关设于起重机操作室的、将 所测吊重摆角信号无线发射装置，以及在起重机操作室装设与无线发 射装置配套的二套二频道切换摆角接收控制装置； 或
装设一套三频道遥控切换的、遥控开关设于起重机操作室的、将所 测吊重摆角信号无线发射装置，以及在起重机操作室装设与无线发射 装置配套的三套三频道切换摆角接收控制装置；
(2) 装设吊重载荷监测装置
①在起重机上装设吊重载荷检测器，同时装设一套二频道遥控切换 的、遥控开关设于起重机操作室的、将所测吊重载荷信号无线发射装 置，以及在起重机操作室装设与无线发射装置配套的一套二频道切换 本机载荷接收控制装置与一套二频道切换的协同方载荷接收控制装 置； 或
在起重机上装设吊重载荷检测器， 同时装设一套三频道遥控切换 的、遥控开关设于起重机操作室的、将所测吊重载荷信号无线发射装 置，以及在起重机操作室装设与无线发射装置配套的一套三频道切换 本机载荷接收控制装置与二套三频道切换的协同方载荷接收控制装 置；
②在起重机操作室至少装设一套显示实时载荷比值的载荷比处理 显示器，所述载荷比处理显示器的二个输入端分别与本机载荷接收控 制装置及协同方载荷接收控制装置的输出端连接。
2. 根据权利要求 1所述的吊重摆角、 吊重载荷监测装置， 其特征 是， 在所述的平台面上装设角度测量仪外还装设地磁场测量仪。
3. 根据权利要求 1或权利要求 2所述的吊重摆角、 吊重载荷监测 装置， 其特征是， 在所述的平台面上装设的角度测量仪是三轴加速度 计， 装设的地磁场测量仪是三轴磁强计。
4. 根据权利要求 1所述的吊重摆角、 吊重载荷监测装置， 其特征 是， 在起重机与协同方起重机上均装设相同的所述吊重载荷检测器。
5. 根据权利要求 1所述的吊重摆角、 吊重载荷监测装置， 其特征 是， 所述的载荷比处理显示器， 设有载荷比液晶显示。
6. 一种吊重摆角、 吊重姿态协同方监测装置， 用于起重机， 其特 征是，起重机上至少装设吊重摆角协同方监测装置与吊重姿态协同方 监测装置二项装置中的一项装置， 其中，
(1)吊重摆角协同方监测装置包括：
①增加起重机起升滑轮组动滑轮两侧护板长度尺寸，在所增长出的 两侧护板内侧空置的位置上固定装设满足吊重摆角 0°时所设的平台 面为水平面的平台， 在所述的平台面上装设角度测量仪；
②在增加起重机起升滑轮组动滑轮两侧护板长度尺寸后，在所增长 出的动滑轮护板内侧空置的位置上装设一套二频道遥控切换的、遥控 开关设于起重机操作室的、将所测吊重摆角信号无线发射装置， 以及 在起重机操作室装设与无线发射装置配套的二套二频道切换摆角接 收控制装置； 或
在增加起重机起升滑轮组动滑轮两侧护板长度尺寸后，在所述的护 板内侧空置的位置上装设一套三频道遥控切换的、遥控开关设于起重 机操作室的、将所测吊重摆角信号无线发射装置， 以及在起重机操作 室装设与无线发射装置配套的三套三频道切换摆角接收控制装置；
(2)吊重姿态协同方监测装置包括：
①在起重机操作室配备一套无线单轴倾角仪，当装设于被起吊物体 上时，无线单轴倾角仪的敏感轴线应与被控二起重机吊点连线的水平 投影线相平行；
②在起重机操作室装设与无线单轴倾角仪配套的姿态接收控制装 置。
7. 根据权利要求 6所述的吊重摆角、 吊重姿态协同方监测装置， 其特征是， 在所述的平台面上装设角度测量仪外还装设地磁场测量 仪。
8. 根据权利要求 6或权利要求 7所述的吊重摆角、 吊重姿态协同 方监测装置， 其特征是， 在所述的平台面上装设的角度测量仪是双轴 角度传感器， 装设的地磁场测量仪是双轴磁强计。
9. 根据权利要求 6所述的吊重摆角、 吊重姿态协同方监测装置， 其特征是，所述无线单轴倾角仪是具有磁性吸附固定且在绞接与自重 作用下， 仪表面始终朝上自调方向的无线单轴倾角仪。
10. 一种采用如权利要求 1或 6所述装置的起重机吊重摆角、 吊重 载荷或吊重姿态的监测方法， 其特征是：
(1) 监测装置的启用
①当装设吊重摆角、 吊重载荷监测装置， 单机吊装时： 通过设于起 重机操作室的遥控开关启用吊重摆角无线发射装置占用一个频道，以 及启用吊重载荷无线发射装置占用一个频道，同时只启用接收本机频 道的摆角接收控制装置以及载荷接收控制装置； 当起重机选作抬吊 时：每台起重机的监测装置分别通过设于起重机操作室的遥控开关启 用吊重摆角无线发射装置以及吊重载荷无线发射装置，分别各占用一 个频道，设于起重机操作室的接收控制装置分别各除一套切换至本机 频道， 将本机吊重摆角、 吊重载荷动态显示于本机操作室外， 同时将 接收协同方的摆角接收控制装置、载荷接收控制装置切换至协同方起 重机频道， 分别将协同方吊重摆角、 吊重载荷动态再显示于本机操作 室
② 当装设吊重摆角、 吊重姿态协同方监测装置， 单机吊装时： 通 过设于起重机操作室的遥控开关占用一个频道，只启用接收本机频道 的摆角接收控制装置； 起重机选作抬吊时： 每台起重机的吊重摆角协 同方监测装置分别通过设于起重机操作室的遥控开关各占用一个频 道， 设于起重机操作室的接收控制装置除一套切换至本机频道， 将本 机吊重摆角动态显示于本机操作室外，将接收协同方的摆角接收控制 装置切换至协同方起重机频道，将协同方吊重摆角动态再显示于本机 操作室， 同时将无线单轴倾角仪水平装设于被吊物体上，且满足单轴 倾角仪的敏感轴线与被控二机吊点连线的水平投影线相平行，并通过 装设于起重机操作室的姿态接收控制装置显示实时吊重姿态；
(2)协同吊装的作法是：
①双主机抬吊或双主机滑移抬吊时，比较主机间吊重摆角操纵起重 机实现垂直吊装，依主机间吊重载荷比值操纵起重机实现载荷正常分 配，或监测主机吊点间连线斜率的单轴倾角仪操纵起重机使单轴倾角 仪呈水平姿态实现载荷正常分配；
②主、 辅机双机抬吊时， 主、 辅机均应以辅机显示的吊重摆角不大 于允许值为前提操纵起重机实现垂直吊装；
③双主机单辅机抬吊时， 主、辅机均应以辅机显示的吊重摆角不大 于允许值为前提并比较主机间吊重摆角以操纵起重机实现垂直吊装， 同时依主机间吊重载荷比值操纵起重机实现载荷正常分配，或监测主 机吊点间连线斜率的单轴倾角仪操纵起重机使单轴倾角仪呈水平姿 态实现载荷正常分配；
④控制三机载荷均衡抬吊时，比较主机间吊重摆角操纵起重机实现 垂直吊装， 同时确定一台为主动机二台为从动机， 主动机提升时从动 机使吊重载荷比值在设定区间内以操纵起重机实现载荷正常分配。
11. 一种起重机， 其特征是， 包括权利要求 1-5中任一项所述的吊 重摆角、 吊重载荷监测装置， 或包括权利要求 6-9中任一项所述的吊 重摆角、 吊重姿态协同方监测装置。
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