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CN106477455A - A kind of building tower crane anti-sway device - Google Patents

A kind of building tower crane anti-sway device Download PDF

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Publication number
CN106477455A
CN106477455A CN201611050821.1A CN201611050821A CN106477455A CN 106477455 A CN106477455 A CN 106477455A CN 201611050821 A CN201611050821 A CN 201611050821A CN 106477455 A CN106477455 A CN 106477455A
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CN
China
Prior art keywords
photoelectric encoder
frequency converter
tower crane
motor
sway device
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Pending
Application number
CN201611050821.1A
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Chinese (zh)
Inventor
于广滨
高海连
李刚
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HARBIN TECHNOLOGY UNIV
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HARBIN TECHNOLOGY UNIV
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Priority to CN201611050821.1A priority Critical patent/CN106477455A/en
Publication of CN106477455A publication Critical patent/CN106477455A/en
Pending legal-status Critical Current

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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
    • 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
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

On construction site, derrick crane is the requisite instrument of vertical transport, but as suspender is easy to swing with load is hung, this not only extends the work period of unloading, even unhook can be caused to cause the accident when serious, the present invention provides a kind of building tower crane anti-swing controlling device, and its composition includes：Main frame, 3-axis acceleration device, photoelectric encoder I, photoelectric encoder II, revolution frequency converter, dolly frequency converter, turning motor, vehicle motor, slew gear, radio communication device, is characterized in that：Described main frame and photoelectric encoder I, photoelectric encoder II, described photoelectric encoder I and revolution frequency converter, described photoelectric encoder II is connected with dolly frequency converter, and described revolution frequency converter is connected with turning motor, and described dolly frequency converter is connected with vehicle motor.

Description

一种建筑塔式起重机防摇摆装置An anti-sway device for a construction tower crane

技术领域technical field

本发明设计塔式起重机领域，特别是涉及一种建筑塔式起重机防摇摆装置。The invention relates to the design field of tower cranes, in particular to an anti-sway device for construction tower cranes.

背景技术Background technique

建筑工地上塔式起重机是垂直运输必不可少的工具，但是由于吊具与吊载很容易摆动，这不仅延长了卸载的工作周期，严重时甚至会引起脱钩造成事故，目前市面上防摇摆的装置还比较少，技术也不太成熟，为了克服上述问题，本发明提供一种建筑塔式起重机防摇摆控制装置。The tower crane on the construction site is an indispensable tool for vertical transportation, but because the spreader and the hoist are easy to swing, this not only prolongs the unloading work cycle, but even causes accidents due to decoupling in severe cases. Currently, anti-sway cranes on the market There are still relatively few devices, and the technology is not yet mature. In order to overcome the above problems, the present invention provides an anti-sway control device for a construction tower crane.

发明内容Contents of the invention

为了解决上述问题，本发明设计了一种建筑塔式起重机防摇摆装置。In order to solve the above problems, the present invention designs an anti-sway device for a construction tower crane.

本发明解决问题的技术方案是：The technical scheme that the present invention solves the problem is:

一种建筑塔式起重机防摇摆装置，其组成包括：主机、三轴加速度器、光电编码器Ⅰ、光电编码器Ⅱ、回转变频器、小车变频器、回转电机、小车电机、回转机构、无线通信装置，其特征是：所述的主机与光电编码器Ⅰ、光电编码器Ⅱ，所述的光电编码器Ⅰ与回转变频器，所述的光电编码器Ⅱ与小车变频器连接，所述的回转变频器与回转电机连接，所述的小车变频器与小车电机连接。An anti-sway device for a building tower crane, which consists of: a main engine, a three-axis accelerometer, a photoelectric encoder I, a photoelectric encoder II, a slewing inverter, a trolley inverter, a slewing motor, a trolley motor, a slewing mechanism, and a wireless communication The device is characterized in that: the host is connected to the photoelectric encoder I and photoelectric encoder II, the photoelectric encoder I is connected to the rotary frequency converter, the photoelectric encoder II is connected to the trolley frequency converter, and the rotary The frequency converter is connected with the rotary motor, and the trolley frequency converter is connected with the trolley motor.

所述的一种建筑塔式起重机防摇摆装置，所述的三轴加速器上安装有三轴陀螺仪传感器、无线发射装置。In the anti-sway device for a construction tower crane, a three-axis gyroscope sensor and a wireless transmitting device are installed on the three-axis accelerator.

所述的一种建筑塔式起重机防摇摆装置，所述的主机上安装有无线就收装置。In the anti-sway device of a construction tower crane, a wireless receiving device is installed on the host.

所述的一种建筑塔式起重机防摇摆装置，所述的三轴陀螺仪传感器能够采集吊物的实时摆动状态即吊物的角度和角速度。In the anti-sway device of a construction tower crane, the three-axis gyroscope sensor can collect the real-time swing state of the hanging object, that is, the angle and angular velocity of the hanging object.

所述的一种建筑塔式起重机防摇摆装置，所述的小车电机、小车变频器、光电编码器Ⅱ位于起重机大臂靠近回转机构（驾驶室）的位置。In the aforementioned anti-sway device for a construction tower crane, the trolley motor, trolley frequency converter, and photoelectric encoder II are located near the slewing mechanism (cab) of the boom of the crane.

所述的一种建筑塔式起重机防摇摆装置，所述的回转电机、光电编码器Ⅰ位于起重机塔位于起重机回转机构（驾驶室）的底端。In the anti-sway device for a construction tower crane, the slewing motor and photoelectric encoder I are located at the bottom of the slewing mechanism (cab) of the crane tower.

所述的一种建筑塔式起重机防摇摆装置，所述的主机位于驾驶室内。In the anti-sway device for a construction tower crane, the main engine is located in the cab.

所述的一种建筑塔式起重机防摇摆装置，所述的三轴加速器安装在吊钩上。In the anti-sway device of a construction tower crane, the three-axis accelerator is installed on a hook.

本发明的工作原理：一、通过安装在吊钩上的三轴陀螺仪传感器采集吊物实时摆动的角度与角速度，并处理，通过无线发射装置将信号传递到主机；二、编码器采集小车电机和回转电机的运行信息；三、通过回转变频器与小车变频器实现对回转电机与小车电机的控制从而实现对吊物摇摆的控制。The working principle of the present invention: 1. Collect the real-time swing angle and angular velocity of the suspended object through the three-axis gyroscope sensor installed on the hook, and process it, and transmit the signal to the host computer through the wireless transmitting device; 2. The encoder collects the trolley motor and the running information of the slewing motor; 3. Realize the control of the slewing motor and the trolley motor through the slewing inverter and the trolley inverter so as to realize the control of the swing of the hanging object.

附图说明Description of drawings

附图1本发明工作原理图Accompanying drawing 1 working principle diagram of the present invention

附图2本发明安装结构图Accompanying drawing 2 present invention's installation structure figure

1.光电编码器Ⅰ2. 光电编码器Ⅱ3.回转机构4.主机5.小车变频器6.小车电机7.大臂8.回转电机9.回转变频器10.吊钩。1. Photoelectric encoder Ⅰ 2. Photoelectric encoder Ⅱ 3. Rotary mechanism 4. Host 5. Car inverter 6. Car motor 7. Boom 8. Rotary motor 9. Rotary inverter 10. Hook.

具体实施方式detailed description

实施例1Example 1

一种建筑塔式起重机防摇摆装置，其组成包括：主机、三轴加速度器、光电编码器Ⅰ、光电编码器Ⅱ、回转变频器、小车变频器、回转电机、小车电机、回转机构、无线通信装置，其特征是：所述的主机与光电编码器Ⅰ、光电编码器Ⅱ，所述的光电编码器Ⅰ与回转变频器，所述的光电编码器Ⅱ与小车变频器连接，所述的回转变频器与回转电机连接，所述的小车变频器与小车电机连接。An anti-sway device for a building tower crane, which consists of: a main engine, a three-axis accelerometer, a photoelectric encoder I, a photoelectric encoder II, a slewing inverter, a trolley inverter, a slewing motor, a trolley motor, a slewing mechanism, and a wireless communication The device is characterized in that: the host is connected to the photoelectric encoder I and photoelectric encoder II, the photoelectric encoder I is connected to the rotary frequency converter, the photoelectric encoder II is connected to the trolley frequency converter, and the rotary The frequency converter is connected with the rotary motor, and the trolley frequency converter is connected with the trolley motor.

实施例2Example 2

根据实施例1所述的一种建筑塔式起重机防摇摆装置，所述的三轴加速器上安装有三轴陀螺仪传感器、无线发射装置。According to the anti-sway device for a construction tower crane described in Embodiment 1, a three-axis gyroscope sensor and a wireless transmitting device are installed on the three-axis accelerator.

实施例3Example 3

根据实施例1所述的一种建筑塔式起重机防摇摆装置，所述的主机上安装有无线就收装置。According to the anti-sway device for a construction tower crane described in Embodiment 1, a wireless receiving device is installed on the host.

实施例4Example 4

根据实施例1所述的一种建筑塔式起重机防摇摆装置，所述的三轴陀螺仪传感器能够采集吊物的实时摆动状态即吊物的角度和角速度。According to the anti-sway device for a construction tower crane described in Embodiment 1, the three-axis gyro sensor can collect the real-time swing state of the hanging object, that is, the angle and angular velocity of the hanging object.

实施例5Example 5

根据实施例1所述的一种建筑塔式起重机防摇摆装置，所述的小车电机、小车变频器、光电编码器Ⅱ位于起重机大臂靠近回转机构（驾驶室）的位置。According to the anti-sway device for a construction tower crane described in Embodiment 1, the trolley motor, trolley frequency converter, and photoelectric encoder II are located at the position where the boom of the crane is close to the slewing mechanism (cab).

实施例6Example 6

根据实施例1所述的一种建筑塔式起重机防摇摆装置，所述的回转电机、光电编码器Ⅰ位于起重机塔位于起重机回转机构（驾驶室）的底端。According to the anti-sway device for a construction tower crane described in Embodiment 1, the slewing motor and the photoelectric encoder I are located at the bottom of the crane tower at the slewing mechanism (cab) of the crane.

实施例7Example 7

根据实施例1所述的一种建筑塔式起重机防摇摆装置，所述的主机位于驾驶室内。According to the anti-sway device for a construction tower crane described in Embodiment 1, the main engine is located in the cab.

实施例8Example 8

根据实施例1所述的一种建筑塔式起重机防摇摆装置，所述的三轴加速器安装在吊钩上。According to the anti-sway device of the construction tower crane described in Embodiment 1, the three-axis accelerator is installed on the hook.

Claims (8)

1.一种建筑塔式起重机防摇摆装置，其组成包括：主机、三轴加速度器、光电编码器Ⅰ、光电编码器Ⅱ、回转变频器、小车变频器、回转电机、小车电机、回转机构、无线通信装置，其特征是：所述的主机与光电编码器Ⅰ、光电编码器Ⅱ，所述的光电编码器Ⅰ与回转变频器，所述的光电编码器Ⅱ与小车变频器连接，所述的回转变频器与回转电机连接，所述的小车变频器与小车电机连接。1. An anti-sway device for a construction tower crane, which consists of: a main engine, a three-axis accelerometer, a photoelectric encoder I, a photoelectric encoder II, a rotary inverter, a trolley inverter, a rotary motor, a trolley motor, a rotary mechanism, The wireless communication device is characterized in that: the host is connected to the photoelectric encoder I and photoelectric encoder II, the photoelectric encoder I is connected to the rotary frequency converter, the photoelectric encoder II is connected to the car frequency converter, and the The slewing frequency converter is connected with the slewing motor, and the trolley frequency converter is connected with the trolley motor. 2.根据权利要求1所述的一种建筑塔式起重机防摇摆装置，其特征是：所述的三轴加速器上安装有三轴陀螺仪传感器、无线发射装置。2. The anti-sway device for a construction tower crane according to claim 1, wherein a three-axis gyroscope sensor and a wireless transmitting device are installed on the three-axis accelerator. 3.根据权利要求1所述的一种建筑塔式起重机防摇摆装置，其特征是：所述的主机上安装有无线就收装置。3. The anti-sway device for construction tower crane according to claim 1, characterized in that: said host is equipped with a wireless receiving device. 4.根据权利要求2所述的一种建筑塔式起重机防摇摆装置，其特征是：所述的三轴陀螺仪传感器能够采集吊物的实时摆动状态即吊物的角度和角速度。4. The anti-sway device for a construction tower crane according to claim 2, characterized in that: the three-axis gyroscope sensor can collect the real-time swing state of the hanging object, that is, the angle and angular velocity of the hanging object. 5.根据权利要求1所述的一种建筑塔式起重机防摇摆装置，其特征是：所述的小车电机、小车变频器、光电编码器Ⅱ位于起重机大臂靠近回转机构（驾驶室）的位置。5. An anti-sway device for a construction tower crane according to claim 1, characterized in that: the trolley motor, trolley inverter, and photoelectric encoder II are located at the position where the boom of the crane is close to the slewing mechanism (cab) . 6.根据权利要求1所述的一种建筑塔式起重机防摇摆装置，其特征是：所述的回转电机、光电编码器Ⅰ位于起重机塔位于起重机回转机构（驾驶室）的底端。6. An anti-sway device for a construction tower crane according to claim 1, characterized in that: the rotary motor and the photoelectric encoder I are located at the bottom of the crane tower and the crane's slewing mechanism (cab). 7.根据权利要求1所述的一种建筑塔式起重机防摇摆装置，其特征是：所述的主机位于驾驶室内。7. The anti-sway device for a construction tower crane according to claim 1, wherein the main engine is located in the cab. 8.根据权利要求1所述的一种建筑塔式起重机防摇摆装置，其特征是：所述的三轴加速器安装在吊钩上。8. The anti-sway device for a construction tower crane according to claim 1, characterized in that: the three-axis accelerator is installed on the hook.
CN201611050821.1A 2016-11-25 2016-11-25 A kind of building tower crane anti-sway device Pending CN106477455A (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108190747A (en) * 2018-02-16 2018-06-22 广西建工集团智慧制造有限公司 A kind of tower crane lift hook prevents the technology of waving
CN108910709A (en) * 2018-06-04 2018-11-30 上海工程技术大学 A kind of anti-position calibration method for shaking sensor of bridge crane
WO2020182592A1 (en) * 2019-03-08 2020-09-17 Liebherr-Werk Biberach Gmbh Crane and device for controlling same
CN111807223A (en) * 2020-08-12 2020-10-23 义乌恒邦建筑智能科技有限公司 Real-time anti-swing control method and anti-swing device for tower crane luffing mechanism
WO2020252875A1 (en) * 2019-06-18 2020-12-24 东北大学 Simple pendulum apparatus and rapid oscillation control method thereof
CN112340603A (en) * 2020-02-27 2021-02-09 徐州建机工程机械有限公司 A tower crane hook anti-swing control system
CN115285856A (en) * 2022-08-04 2022-11-04 徐工集团工程机械股份有限公司建设机械分公司 Crane hook swing elimination and boom damping control system and control method

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108190747A (en) * 2018-02-16 2018-06-22 广西建工集团智慧制造有限公司 A kind of tower crane lift hook prevents the technology of waving
CN108910709A (en) * 2018-06-04 2018-11-30 上海工程技术大学 A kind of anti-position calibration method for shaking sensor of bridge crane
CN108910709B (en) * 2018-06-04 2020-07-10 上海工程技术大学 Position calibration method for anti-shaking sensor of bridge crane
WO2020182592A1 (en) * 2019-03-08 2020-09-17 Liebherr-Werk Biberach Gmbh Crane and device for controlling same
CN113544078A (en) * 2019-03-08 2021-10-22 利勃海尔工厂比伯拉赫股份有限公司 Crane and its control device
US20220055868A1 (en) * 2019-03-08 2022-02-24 Markus Hofmeister Crane and device for controlling same
US11932517B2 (en) 2019-03-08 2024-03-19 Liebherr-Werk Biberach Gmbh Crane and device for controlling same
WO2020252875A1 (en) * 2019-06-18 2020-12-24 东北大学 Simple pendulum apparatus and rapid oscillation control method thereof
CN112340603A (en) * 2020-02-27 2021-02-09 徐州建机工程机械有限公司 A tower crane hook anti-swing control system
CN111807223A (en) * 2020-08-12 2020-10-23 义乌恒邦建筑智能科技有限公司 Real-time anti-swing control method and anti-swing device for tower crane luffing mechanism
CN115285856A (en) * 2022-08-04 2022-11-04 徐工集团工程机械股份有限公司建设机械分公司 Crane hook swing elimination and boom damping control system and control method

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Application publication date: 20170308