阅读说明：本技术 一种桥式起重机定位防摇摆控制方法 (Positioning anti-swing control method for bridge crane ) 是由 梁大伟 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种桥式起重机定位防摇摆控制方法,属于起重机领域,涉及防摇摆技术,用于解决起重机运行速度不好把握带来的起吊重物摇摆现象,摆动测量模块结合数据处理模块获取承重钩的摆动幅度值Ab；数据采集模块获取当前桥式起重机的承载重量；若当前的承载重量大于最大承载重量Gcm；则发送报警信号至控制器进行超载报警；若当前的承载重量在最大承载重量Gcm的范围内时,数据处理模块将摆动幅度值Ab与摆动幅度阈值进行比较；数据采集模块获取当前桥式起重机运行速度,若桥式起重机运行速度大于摆动幅度阈值对应的运行速度阈值,数据处理模块发送信号至控制器,控制器连接摆动调节模块控制运行速度,完成桥式起重机的防摇摆控制。(The invention discloses a bridge crane positioning anti-swing control method, belongs to the field of cranes, relates to an anti-swing technology, and is used for solving the swing phenomenon of a lifted heavy object caused by poor control of the running speed of a crane; the data acquisition module acquires the current bearing weight of the bridge crane; if the current load capacity is greater than the maximum load capacity Gcm; sending an alarm signal to the controller to alarm for overload; if the current bearing weight is within the range of the maximum bearing weight Gcm, the data processing module compares the swing amplitude value Ab with a swing amplitude threshold value; the data acquisition module acquires the current running speed of the bridge crane, and if the running speed of the bridge crane is greater than the running speed threshold corresponding to the swing amplitude threshold, the data processing module sends a signal to the controller, and the controller is connected with the swing adjusting module to control the running speed so as to complete the anti-swing control of the bridge crane.)

1. A bridge crane positioning anti-swing control method is characterized by comprising the following steps:

the swing measurement module is combined with the data processing module to obtain a swing amplitude value Ab of the bearing hook; the data acquisition module acquires the current bearing weight of the bridge crane;

if the current load capacity is greater than the maximum load capacity Gcm; sending an alarm signal to the controller, and controlling the alarm module to carry out overload alarm by the controller;

if the current bearing weight is within the range of the maximum bearing weight Gcm, the data processing module compares the swing amplitude value Ab with a swing amplitude threshold value;

the data acquisition module acquires the current running speed of the bridge crane, when the current running speed of the bridge crane is greater than the running speed threshold corresponding to the swing amplitude threshold, the data processing module sends a signal to the controller, and the controller is connected with the swing adjusting module to control the running speed of the bridge crane, so that the swing-proof control of the bridge crane is completed.

2. The bridge crane positioning anti-swing control method according to claim 1, wherein the swing measuring module is installed on a load-bearing hook, and the swing measuring module is specifically a weight, a transmitter and a receiver; the emitter is arranged on the heavy hammer, and the light rays emitted by the emitter are parallel to the ground;

the receiver is marked with scales and is vertically placed, light rays of the emitter are emitted to the periphery, and the emitted light rays are parallel to the ground.

3. The bridge crane positioning anti-swing control method as claimed in claim 2, wherein when the load-bearing hook is not swinging, the transmitter emits light, the receiver receives light, and the scale of the receiver at this time is marked as "0";

when the bearing hook swings, the heavy hammer swings along with the bearing hook, and the receiver receives light rays in the swinging process;

the data processing module converts the scale value Kd into a swing amplitude value Ab by using the conversion relation between the scale value and the swing amplitude.

4. The method as claimed in claim 3, wherein the data processing module further stores a conversion relationship between the scale value and the swing amplitude, and the conversion relationship between the scale value and the swing amplitude is a positive correlation.

5. The bridge crane positioning anti-swing control method according to claim 1, wherein the swing amplitude threshold comprises a first swing amplitude threshold and a second swing amplitude threshold, and the first swing amplitude threshold is smaller than the second swing amplitude threshold;

the operating speed threshold comprises a first operating speed and a second operating speed; and the first operating speed is greater than the second operating speed.

6. The bridge crane positioning anti-swing control method according to claim 1, wherein the data processing module does not send a signal if the current swing amplitude value Ab is smaller than the first swing amplitude threshold.

7. The bridge crane positioning anti-swing control method according to claim 1, wherein if the current swing amplitude value Ab is greater than or equal to the first swing amplitude threshold and less than the second swing amplitude threshold, the data processing module sends a speed acquisition signal to the data acquisition module, and the data acquisition module acquires the current operating speed;

if the current running speed is higher than the first running speed, the data processing module sends a first speed limiting signal to the controller, and the controller is connected with the swing adjusting module to control the running speed of the bridge crane to be within the first running speed.

8. The bridge crane positioning anti-swing control method according to claim 1, wherein if the current swing amplitude value Ab is greater than or equal to the second swing amplitude threshold, the data processing module sends a speed acquisition signal to the data acquisition module, and the data acquisition module acquires the current operating speed;

and if the current running speed is higher than the second running speed, the data processing module sends a second speed limiting signal to the controller, and the controller is connected with the swing adjusting module to control the running speed of the bridge crane to be within the second running speed.

Technical Field

The invention belongs to the field of cranes, relates to an anti-swing technology, and particularly relates to a positioning anti-swing control method for a bridge crane.

Background

The bridge crane is a hoisting device which is transversely arranged above workshops, warehouses and stockyards to hoist materials. Since its two ends are seated on a tall concrete column or a metal bracket, it is shaped like a bridge. The bridge frame of the bridge crane runs longitudinally along the rails laid on the elevated frames at two sides, so that the space below the bridge frame can be fully utilized to hoist materials without being hindered by ground equipment. The lifting machine has the widest application range and the largest quantity.

The existing bridge crane is not good in speed control in use, the phenomenon that a heavy object swings often occurs when the crane lifts the heavy object, and the heavy object swings to bring great potential safety hazards.

Therefore, a positioning anti-swing control method for the bridge crane is provided.

Disclosure of Invention

The invention provides a bridge crane positioning anti-swing control method, which is used for solving the problem of swing of a lifted heavy object caused by poor control of the running speed of a crane.

The purpose of the invention can be realized by the following technical scheme:

a bridge crane positioning anti-swing control method comprises the following steps:

the swing measurement module is combined with the data processing module to obtain a swing amplitude value Ab of the bearing hook; the data acquisition module acquires the current bearing weight of the bridge crane;

if the current load capacity is greater than the maximum load capacity Gcm; sending an alarm signal to the controller, and controlling the alarm module to carry out overload alarm by the controller;

if the current bearing weight is within the range of the maximum bearing weight Gcm, the data processing module compares the swing amplitude value Ab with a swing amplitude threshold value;

the data acquisition module acquires the current running speed of the bridge crane, when the current running speed of the bridge crane is greater than the running speed threshold corresponding to the swing amplitude threshold, the data processing module sends a signal to the controller, and the controller is connected with the swing adjusting module to control the running speed of the bridge crane, so that the swing-proof control of the bridge crane is completed.

Furthermore, the swing measuring module is arranged on the bearing hook, and the swing measuring module is specifically a heavy hammer, a transmitter and a receiver; the emitter is arranged on the heavy hammer, and the light rays emitted by the emitter are parallel to the ground;

the receiver is marked with scales and is vertically placed, light rays of the emitter are emitted to the periphery, and the emitted light rays are parallel to the ground.

Further, when the bearing hook does not swing, the emitter emits light, the receiver receives the light, and the scale of the receiver at the moment is marked as '0';

when the bearing hook swings, the heavy hammer swings along with the bearing hook, and the receiver receives light rays in the swinging process;

the data processing module converts the scale value Kd into a swing amplitude value Ab by using the conversion relation between the scale value and the swing amplitude.

Furthermore, a conversion relation between the scale value and the swing amplitude is stored in the data processing module, and the conversion relation between the scale value and the swing amplitude is a positive correlation.

Further, the swing amplitude threshold includes a first swing amplitude threshold and a second swing amplitude threshold, and the first swing amplitude threshold is smaller than the second swing amplitude threshold;

the operating speed threshold comprises a first operating speed and a second operating speed; and the first operating speed is greater than the second operating speed.

Further, if the current swing amplitude value Ab is smaller than the first swing amplitude threshold, the data processing module does not send a signal.

Further, if the current swing amplitude value Ab is greater than or equal to the first swing amplitude threshold and less than the second swing amplitude threshold, the data processing module sends a speed acquisition signal to the data acquisition module, and the data acquisition module acquires the current operating speed;

if the current running speed is higher than the first running speed, the data processing module sends a first speed limiting signal to the controller, and the controller is connected with the swing adjusting module to control the running speed of the bridge crane to be within the first running speed.

Further, if the current swing amplitude value Ab is greater than or equal to the second swing amplitude threshold, the data processing module sends a speed acquisition signal to the data acquisition module, and the data acquisition module acquires the current operating speed;

and if the current running speed is higher than the second running speed, the data processing module sends a second speed limiting signal to the controller, and the controller is connected with the swing adjusting module to control the running speed of the bridge crane to be within the second running speed.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, the swing amplitude value Ab is obtained through the swing measurement module, and the running speed of the bridge crane is effectively controlled by combining the swing amplitude threshold value and the running speed threshold value, so that the anti-swing control of the bridge crane is further completed, and the potential safety hazard caused by the swing of a heavy object is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a flow chart of a positioning anti-swing control method for a bridge crane according to the present invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, a positioning anti-sway control method for a bridge crane includes:

the swing measurement module is combined with the data processing module to obtain a swing amplitude value Ab of the bearing hook; the data acquisition module acquires the current bearing weight of the bridge crane;

if the current load capacity is greater than the maximum load capacity Gcm; sending an alarm signal to the controller, and controlling the alarm module to carry out overload alarm by the controller;

if the current bearing weight is within the range of the maximum bearing weight Gcm, the data processing module compares the swing amplitude value Ab with a swing amplitude threshold value;

the data acquisition module acquires the current running speed of the bridge crane, when the current running speed of the bridge crane is greater than the running speed threshold corresponding to the swing amplitude threshold, the data processing module sends a signal to the controller, and the controller is connected with the swing adjusting module to control the running speed of the bridge crane, so that the swing-proof control of the bridge crane is completed.

It should be noted that the positioning anti-swing control method for the bridge crane is realized by means of a positioning anti-swing control system for the bridge crane.

A positioning anti-swing control system of a bridge crane comprises a data acquisition module, a data processing module, a controller and a swing adjusting module; the data acquisition module is used for acquiring basic parameter data of the bridge crane, wherein the basic parameter data comprises the maximum bearing weight, the length of a steel cable, the weight of a bearing hook and the maximum running speed of the bridge crane; the basic parameter data is limited by manufacturers according to the overhead bearing capacity on two sides of the bridge crane and the running motor parameters of the bridge crane;

the method comprises the following steps that the overhead bearing capacity of two sides of a bridge crane determines the maximum bearing weight, and the running motor parameter of the bridge crane determines the maximum running speed; the data acquisition module sends the acquired basic parameter data of the bridge crane to the data processing module, the data processing module marks the basic parameter data of the bridge crane respectively, marks the basic parameter data of the bridge crane as Gcm, Lgs, Gcz and Vym and makes a parameter table of the bridge crane, as shown in table 1:

TABLE 1

It should be further explained that the length of the steel cable in the present application is the maximum hoisting height of the bridge crane, which is not consistent with the conventional steel cable length;

the data acquisition module is further used for acquiring operation parameters of the bridge crane in operation, wherein the operation parameters comprise the hoisting weight, the length of the bearing hook and the operation speed, the data acquisition module sends the obtained hoisting weight, the length of the bearing hook and the operation speed to the data processing module, and the data processing module marks the hoisting weight, the length of the bearing hook and the operation speed as Gqd, Lcg and Vyx respectively; similarly, the length of the bearing hook in the application is the vertical distance between the bearing hook and the elevated frames on the two sides when a heavy object is hung on the bearing hook stably;

wherein, bridge crane location anti-swing control system still includes swing measurement module, swing measurement module installs on the bearing hook, swing measurement module specifically is weight, transmitter and receiver, and swing measurement module combines data processing module to measure the swing range of bearing hook, and concrete swing measurement module and data processing module obtain the process of measuring the swing range of bearing hook and include:

the weight is not hung on the bearing hook, the swinging measurement module is arranged on one side of the bearing hook, so that the heavy hammer of the swinging measurement module is arranged perpendicular to the ground, the emitter is arranged on the heavy hammer, and the light rays emitted by the emitter are parallel to the ground;

the receiver is used for receiving the light emitted by the emitter;

it should be noted that the receiver is marked with scales, the receiver is vertically placed, when the bearing hook does not swing, the emitter emits light, the receiver receives light, and the scales of the receiver at the moment are marked as '0'; the light rays of the emitter are emitted to the periphery, and the emitted light rays are parallel to the ground;

when the bearing hook swings, the heavy hammer swings along with the bearing hook, and in the swinging process, the receiver receives light and sends the scale value at the moment to the data processing module;

the data processing module receives the scale value sent by the receiver, namely the swing measuring module, and marks the scale value as Kd, wherein the conversion relation between the scale value and the swing amplitude is also stored in the data processing module, and the data processing module converts the scale value Kd into a swing amplitude value Kb by utilizing the conversion relation between the scale value and the swing amplitude;

it should be noted that the conversion relationship between the scale value and the wobble amplitude is a positive correlation, i.e., the larger the scale value, the larger the wobble amplitude value.

The data processing module in this application is used for processing the data that the data acquisition module gathered except that being used for marking the data that the data acquisition module gathered, and specifically, the process that the data processing module was handled the data that the data acquisition module gathered includes following steps:

the method comprises the following steps: the data acquisition module acquires the current load capacity, and the current load capacity is calculated in a mode of lifting weight Gqd + load hook weight Gcz; if the current load capacity is greater than the maximum load capacity Gcm; the data acquisition module sends an alarm signal to the controller, and the controller controls the alarm module to alarm for overload;

step two: when the current bearing weight is within the range of the maximum bearing weight Gcm, the data processing module acquires a current swing amplitude value Ab, and the data processing module is set with a first swing amplitude threshold and a second swing amplitude threshold, and the first swing amplitude threshold is smaller than the second swing amplitude threshold;

step three: if the current swing amplitude value Ab is smaller than the first swing amplitude threshold value, the bridge crane is indicated to swing slightly, and the data processing module does not send a signal;

if the current swing amplitude value Ab is larger than or equal to the first swing amplitude threshold and smaller than the second swing amplitude threshold, indicating that the bridge crane swings moderately, sending a speed acquisition signal to a data acquisition module by a data processing module, and acquiring the current running speed by the data acquisition module;

if the current running speed is higher than the first running speed, the data processing module sends a first speed limit signal to the controller, and the controller is connected with the swing adjusting module to control the running speed of the bridge crane to be within the first running speed, so that the problem of crane swing caused by over-high speed is reduced;

if the current swing amplitude value Ab is larger than or equal to the second swing amplitude threshold value, the heavy swing of the bridge crane is indicated, the data processing module sends a speed acquisition signal to the data acquisition module, and the data acquisition module acquires the current running speed;

if the current running speed is higher than the second running speed, the data processing module sends a second speed limit signal to the controller, and the controller is connected with the swing adjusting module to control the running speed of the bridge crane to be within the second running speed, so that the problem of crane swing caused by over-high speed is reduced;

it should be noted that the first swing amplitude threshold is smaller than the second swing amplitude threshold, and the first operating speed is greater than the second operating speed; and the first swing amplitude threshold value, the second swing amplitude threshold value, the first running speed and the second running speed are all set by the controller.

Wherein, the controller has still set up bearing hook length threshold value, and when current bearing hook length was less than bearing hook length threshold value, the controller also can control the functioning speed.

The above formulas are all calculated by removing dimensions and taking numerical values thereof, the formula is a formula which is obtained by acquiring a large amount of data and performing software simulation to obtain the closest real situation, and the preset parameters and the preset threshold value in the formula are set by the technical personnel in the field according to the actual situation or obtained by simulating a large amount of data.

The working principle of the invention is as follows: the swing measurement module is combined with the data processing module to obtain a swing amplitude value Ab of the bearing hook; the data acquisition module acquires the current bearing weight of the bridge crane; if the current load capacity is greater than the maximum load capacity Gcm; sending an alarm signal to the controller, and controlling the alarm module to carry out overload alarm by the controller; if the current bearing weight is within the range of the maximum bearing weight Gcm, the data processing module compares the swing amplitude value Ab with a swing amplitude threshold value; the data acquisition module acquires the current running speed of the bridge crane, when the current running speed of the bridge crane is greater than the running speed threshold corresponding to the swing amplitude threshold, the data processing module sends a signal to the controller, and the controller is connected with the swing adjusting module to control the running speed of the bridge crane, so that the swing-proof control of the bridge crane is completed.

In the embodiments provided by the present invention, it should be understood that the disclosed apparatus, device and method can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and there may be other divisions when the actual implementation is performed; the modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the method of the embodiment.

Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.