CN201358133Y - Anti-collision safety device of rail-mounted crane - Google Patents
Anti-collision safety device of rail-mounted crane Download PDFInfo
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- CN201358133Y CN201358133Y CNU2009200362793U CN200920036279U CN201358133Y CN 201358133 Y CN201358133 Y CN 201358133Y CN U2009200362793 U CNU2009200362793 U CN U2009200362793U CN 200920036279 U CN200920036279 U CN 200920036279U CN 201358133 Y CN201358133 Y CN 201358133Y
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Abstract
An anti-collision safety device of a rail-mounted crane comprises a PLC (programmable logic controller), control loops of the crane, a distance measuring system and an angle measuring system, wherein, the output of the PLC is connected with the control loops of the crane. A sensor is arranged on the crane, used for computing the relative position of the crane through the calculation of the PLC, and connected in series with the prior control loop of the crane through logic devices such as relays and the like; an alarm and alarm indications are also arranged in the crane, so that the crane can give an alarm remotely, and conduct restriction on certain actions of the crane in a short range according to the degree of a hazardous situation to force the crane entering a set dangerous area to shut down. The anti-collision safety device provided by the utility model can decide whether or not to give anti-collision instructions and to give which type of anti-collision instruction so as to realize anti-collision by matching relevant hardware and software, accurately computing the distance between the positions of critical points of the crane in a real time manner, and comparing the distance with the anti-collision safe distance.
Description
Technical field
The utility model is a kind of crane anti-collision device, is mainly used in rail hoisting cranes such as gate-type, seat type, bank bridge-type, is a kind of crane on track anticollision safety device.
Background technology
Two or many crane on track move on same track or different track, and working space exists common factor, exists the possibility of collision.Under the situation about being restricted in the operation place, some hoisting crane installing space deficiency, when hoisting crane during in the operation of certain position, the driver can't observe the operation situation of another or many hoisting cranes, the hoisting crane part outside the driver works the visual field, exist with other hoisting cranes collisions may.
Existing collision prevention device mainly contains light and two kinds of forms of super sonic, and they generally are made up of projector, receptor, controller and reflecting plate.Projector, receptor and controller are installed on the anti-collision main body (referring to be subjected to the control of product can realize the hoisting crane of anti-collision function), and reflecting plate is installed on the anti-collision object (referring to the corresponding hoisting crane of anti-collision main body).Projector sends the detection ripple, gives receptor through baffle reflection, after judgment processing, sends to the function that controller puts rules into practice.These anticollision safety devices have requirement to the reflecting plate attachment point, in addition the sensor of these collision prevention device to environmental requirement also than higher, external environment is bigger to its influence, these sensors are to some invalid information simultaneously, thereby people or mobile thing as walking can think it is the effective information misoperation by mistake, may influence the normal use of hoisting crane.
Summary of the invention
Problem to be solved in the utility model is: existing crane anti-collision device can not adapt to complex environment, need a kind ofly can realize crash-proof safety device according to the relative position of definite in real time hoisting crane of surrounding environment and environment of living in.
The technical solution of the utility model is: crane on track anticollision safety device, comprise Programmable Logic Controller PLC, the crane hoisting mechanism control loop, the traveling gear control loop, the swing type mechanism control loop, luffing mechanism control loop and main control loop, PLC is connected with described control loop is two-way, also comprise Range Measurement System, Range Measurement System comprises rang sensor and cooresponding zero distance plane of reference, Range Measurement System measure hoisting crane in the cart orbit plane with the distance of its zero distance plane of reference, measure the distance of monkey at trolley track plane and its zero distance plane of reference, the hoist distance of weight and its zero distance plane of reference, the output of Range Measurement System connects PLC.
The utility model also is provided with angle measurement system, angle measurement system comprises angular transducer and cooresponding zero degree line of reference, measure the angle of crane rotation mechanism between turn table plane and default revolution zero degree line of reference, the luffing mechanism angle between luffing plane and the luffing zero degree line of reference of presetting, the output connection PLC of angle measurement system.
The setting of each plane of reference/line of the present utility model: the cooresponding zero distance plane of reference of cart orbit plane is the plane, backstop place of cart supply side track one end; The cooresponding zero distance plane of reference in trolley track plane is the backstop place plane of dolly supply side track near driver's cab one side; The cooresponding zero distance reference plane of the weight that hoists are the trolley track plane.Revolution zero degree line of reference is first stair mouth of hoisting crane and the line of turn table center of gyration; Luffing zero degree line of reference is the intersection of luffing mechanism luffing plane and turn table plane of rotation.
The utility model Range Measurement System measure the corresponding zero distance plane of reference of crane with it apart from the time, only need a point on the measurement hoisting crane and its zero distance plane of reference distance in the cart track alignment; Measure the corresponding zero distance plane of reference of monkey with it apart from the time, only need a point on the measurement monkey and its zero distance plane of reference distance in the trolley track direction; Measurement hoist weight and its zero distance plane of reference apart from the time, measure the suspension hook of hoisting crane and the distance of its zero distance reference plane.
PLC free memory of the present utility model has 7000 step programs at least, and the computation period of dominant frequency is less than 100 milliseconds; Range Measurement System is connected PLC with angle measurement system with fluctuating signal, and the output of PLC controller also connects a read-out.
The utility model is provided with sensor on hoisting crane, computing by PLC calculates the relative position of hoisting crane in environment, and annunciator is set and the indication of reporting to the police, make the hoisting crane long-distance alarm, closely according to the hazard level situation hoisting crane is carried out the restriction of certain action, the hazardous location hoisting crane that enters setting is forced to stop.
The utility model is controlled the parking of hoisting crane motion of mechanism until whole hoisting crane by the electric elements that is installed in the hoisting crane control loop when needs are carried out anticollision; Read-out shows relevant informations such as hoisting crane running state.The utility model is in conjunction with the relevant physical dimension of hoisting crane of input, the hoisting crane that comprehensively records and the distance of R point and angle information, PLC calculates in real time, draw the distance between the hoisting crane key point that to collide, require to compare with the anticollision safety distance again, hoisting crane is reported to the police in the certain distance scope, and deceleration or certain motion of hoisting crane are restricted in the certain distance scope, force in the certain distance scope to stop.
Crane on track anticollision safety device green phase of the present utility model is answered the cooperation of hardware and software, by accurately calculate in real time between the hoisting crane key point position distance and and crashproof safety distance relatively, crashproof thereby whether decision is sent crashproof instruction and sent which kind of crashproof instruction to realize; The reference of setting can prevent the influence that invalid information is judged anticollision device with measurement point, calculates in real time to guarantee crash-proof particularity.
The utility model is provided with the anticollision of realizing hoisting crane under automatic guidance and two kinds of patterns of manual control.The manual control pattern generally is to carry out anticollision action stopping back at hoisting crane to use so that hoisting crane under manual operation to secure side to motion.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
The specific embodiment
The utility model provides a kind of collision prevention device that is used for hoisting crane, as Fig. 1, it comprises: Programmable Logic Controller PLC 3, Range Measurement System 1, angle measurement system 2, crane hoisting mechanism control loop 4, traveling gear control loop 5, swing type mechanism control loop 8, luffing mechanism control loop 9, main control loop 6 and read-out 7, read-out 7 are the interfaces that show for information about with operation.The data in real time computing that the utility model records according to the physical dimension of hoisting crane and distance, angle measurement system, distance between the hoisting crane key point that obtains to collide, again according to the anticollision requirement of setting, hoisting crane is reported to the police in the certain distance scope, deceleration or certain motion of hoisting crane are restricted in the certain distance scope, force in the certain distance scope to stop.Below in conjunction with Fig. 1 embodiment of the present utility model is described.
Crane on track anticollision safety device of the present utility model comprises following parts:
1), Programmable Logic Controller PLC 3, be in the described anticollision safety device when needs are carried out anticollision to the function unit of action of hoisting crane complete machine and the action of each operating unit, free memory has 7000 step programs at least, and dominant frequency will satisfy computation period in 100 milliseconds.PLC adopts the PLC of existing C P317 model in the present embodiment.
2), Range Measurement System 1, comprise rang sensor and zero distance plane of reference, Range Measurement System 1 is connected with Programmable Logic Controller PLC 3, Range Measurement System 1 is measured three values, is respectively present hoisting crane, monkey, the distance between the zero distance plane of reference of hoist weight and its setting.The zero distance plane of reference of hoisting crane and monkey generally is located at crane backstop and plane, dolly backstop place, and a position of getting on hoisting crane and the monkey is measured.Range Measurement System 1 is also measured the weight that hoists and concrete distances its zero distance reference plane, can set the trolley track plane is the zero distance reference, Range Measurement System is measured the suspension hook position of hoisting crane, because weight itself has volume, when being provided with, the collision safety distance should consider the factor of weight volume.Rang sensor can use existing absolute value encoder product, can be used for accurate location.For the hoisting crane of no dolly, only measure the range information of hoisting crane range information and crane hoisting weight.
3), angle measurement system 2, comprise angular transducer and zero degree line of reference, angle measurement system 2 is connected with Programmable Logic Controller PLC 3, angle measurement system 2 is measured two values, measure the angle between crane rotation mechanism and the zero degree line of reference, the angle between luffing mechanism and its zero degree line of reference.Can set revolution zero degree line of reference is: first stair mouth of hoisting crane and the line of turn table center of gyration; Luffing zero degree line of reference is: the intersection of luffing mechanism luffing plane and turn table plane of rotation.Angular transducer can use each angular transducer product of selling on the market, does not then need to be provided with angle measurement system for the hoisting crane of no swing type mechanism and luffing mechanism.
4), lifting mechanism control loop 4, traveling gear control loop 5, swing type mechanism control loop 8, luffing mechanism control loop 9, main control loop 6 be connected with Programmable Logic Controller PLC 3 respectively, realizes control to the hoisting crane motion by the electric elements that is installed at these control loops when needs are carried out anticollision.Wherein lifting mechanism control loop 4, traveling gear control loop 5, swing type mechanism control loop 8, luffing mechanism control loop 9 and main control loop 6 are the operation control loop of hoisting crane, are known technology, no longer describe in detail; Between PLC and the above control loop feedback is arranged, if PLC fails in time to send anticollision instruction or the crashproof action of hoisting crane when not carrying out, the prompting of wrong information and warning, at this moment, the manual command is accepted in main control loop 6 to make the hoisting crane complete machine cut off the power supply to realize anticollision.The utility model is realized crane hoisting mechanism electric power loop, traveling gear electric power loop by the logical device that is serially connected in lifting mechanism control loop 4, traveling gear control loop 5, swing type mechanism control loop 8, luffing mechanism control loop 9 and main control loop 6 respectively, swing type mechanism electric power loop, luffing mechanism electric power loop, the control of general supply loop repeat circuit, thus above mechanism motor power disconnected and general supply makes the corresponding mechanism stop motion until the complete machine stop motion.The utility model is provided with two kinds of patterns controls of PLC automatic guidance and manual control, and the manual control pattern generally is to carry out anticollision action back at hoisting crane to switch and use, hoisting crane this moment can be under manual operation to secure side to motion.Switch to artificial mode state following time, automatic collision avoidance system of the present utility model is just ineffective, also is that Range Measurement System, angle measurement system, PLC etc. no longer work.Hoisting crane is restarted the anticollision safety device arrive perch under manual control after.
5), read-out 7, link to each other with Programmable Logic Controller PLC 3, show location information and other interface of anti-collision warning level of closing hoisting crane.Simultaneously can utilize it to carry out online simple programming, carry out the switching of manual control pattern and automatic control mode by touch-button.
The utility model entire work process was divided into for three steps:
The first step, Range Measurement System are constantly measured the distance of hoisting crane and its zero distance plane of reference, the distance of monkey and its zero distance plane of reference, the distance of hoist weight and zero distance reference; Angle measurement system is constantly measured the angle of crane rotation mechanism and its zero degree line of reference, the angle of luffing mechanism and its zero degree line of reference;
In second step, the data that Range Measurement System and angle measurement system record pass to PLC by a communication format, and the comprehensive again hoisting crane dimension information of PLC calculates the distance that may collide between the hoisting crane key point in real time, and read-out shows for information about synchronously; For example: the anticollision that realize two hoisting cranes, can measure two hoisting cranes distance, angle information separately earlier, calculate distance between each key point on two hoisting cranes (promptly may collide the location point of other objects) by hoisting crane size and the distance separately that collects and angle information;
The 3rd step, the distance that PLC will calculate and the safety distance of setting relatively, whether decision sends crashproof instruction to the hoisting crane control loop and sends which kind of crashproof instruction crashproof to realize.
Claims (7)
1, crane on track anticollision safety device, comprise Programmable Logic Controller PLC, the crane hoisting mechanism control loop, the traveling gear control loop, the swing type mechanism control loop, luffing mechanism control loop and main control loop, PLC is connected with described control loop is two-way, it is characterized in that also comprising Range Measurement System, Range Measurement System comprises rang sensor and cooresponding zero distance plane of reference, Range Measurement System measure hoisting crane in the cart orbit plane with the distance of its zero distance plane of reference, measure the distance of monkey at trolley track plane and its zero distance plane of reference, the hoist distance of weight and its zero distance plane of reference, the output of Range Measurement System connects PLC.
2, crane on track anticollision safety device according to claim 1 is characterized in that the cooresponding zero distance plane of reference of cart orbit plane is the plane, backstop place of cart supply side track one end; The cooresponding zero distance plane of reference in trolley track plane is the backstop place plane of dolly supply side track near driver's cab one side; The cooresponding zero distance reference plane of the weight that hoists are the trolley track plane.
3, crane on track anticollision safety device according to claim 1 and 2, it is characterized in that also being provided with angle measurement system, angle measurement system comprises angular transducer and cooresponding zero degree line of reference, measure the angle of crane rotation mechanism between turn table plane and default revolution zero degree line of reference, the luffing mechanism angle between luffing plane and the luffing zero degree line of reference of presetting, the output connection PLC of angle measurement system.
4, crane on track anticollision safety device according to claim 3 is characterized in that turning round the zero degree line of reference is: first stair mouth of hoisting crane and the line of turn table center of gyration; Luffing zero degree line of reference is: the intersection of luffing mechanism luffing plane and plane of rotation.
5, crane on track anticollision safety device according to claim 1 and 2 is characterized in that the PLC free memory has 7000 step programs at least, and the computation period of dominant frequency is less than 100 milliseconds; Range Measurement System is connected PLC with angle measurement system, and the output of PLC also connects a read-out.
6, crane on track anticollision safety device according to claim 3 is characterized in that the PLC free memory has 7000 step programs at least, and the computation period of dominant frequency is less than 100 milliseconds; Range Measurement System is connected PLC with angle measurement system, and the output of PLC also connects a read-out.
7, crane on track anticollision safety device according to claim 4 is characterized in that the PLC free memory has 7000 step programs at least, and the computation period of dominant frequency is less than 100 milliseconds; Range Measurement System is connected PLC with angle measurement system, and the output of PLC also connects a read-out.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009200362793U CN201358133Y (en) | 2009-03-06 | 2009-03-06 | Anti-collision safety device of rail-mounted crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2009200362793U CN201358133Y (en) | 2009-03-06 | 2009-03-06 | Anti-collision safety device of rail-mounted crane |
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| CNU2009200362793U Expired - Lifetime CN201358133Y (en) | 2009-03-06 | 2009-03-06 | Anti-collision safety device of rail-mounted crane |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390782A (en) * | 2011-11-10 | 2012-03-28 | 中船第九设计研究院工程有限公司 | Laser crashproof method for large-scale gantry crane soft leg |
| CN102826456A (en) * | 2012-08-24 | 2012-12-19 | 中国长江三峡集团公司 | Space positioning and intelligent anticollision system using encoders for large-scale construction equipment |
| CN103818831A (en) * | 2014-03-20 | 2014-05-28 | 中船第九设计研究院工程有限公司 | Fixed crane boom monitoring system |
| CN104444829A (en) * | 2014-09-24 | 2015-03-25 | 四川合能起重设备有限公司 | Intelligent collision-proof system and intelligent collision-proof method of crane |
| CN105158753A (en) * | 2015-09-21 | 2015-12-16 | 成都市新筑路桥机械股份有限公司 | Anti-collision detection device and detection method thereof |
| CN106185635A (en) * | 2016-08-09 | 2016-12-07 | 三海洋重工有限公司 | Crane collision resistant method and system |
| CN106495005A (en) * | 2016-12-23 | 2017-03-15 | 大连华锐重工起重机有限公司 | A kind of crane collision resistant detecting and controlling system |
| CN106542438A (en) * | 2017-01-13 | 2017-03-29 | 上海振华重工电气有限公司 | Ship shape scanning monitor |
| CN107337094A (en) * | 2017-08-15 | 2017-11-10 | 中船第九设计研究院工程有限公司 | A kind of large-sized gantry crane automatic stopping resets system |
| CN108089577A (en) * | 2017-12-05 | 2018-05-29 | 西安丰树电子科技发展有限公司 | Rail mounted window cleaning equipment safety monitoring system and anticollision forecast Control Algorithm |
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2009
- 2009-03-06 CN CNU2009200362793U patent/CN201358133Y/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390782A (en) * | 2011-11-10 | 2012-03-28 | 中船第九设计研究院工程有限公司 | Laser crashproof method for large-scale gantry crane soft leg |
| CN102826456A (en) * | 2012-08-24 | 2012-12-19 | 中国长江三峡集团公司 | Space positioning and intelligent anticollision system using encoders for large-scale construction equipment |
| CN102826456B (en) * | 2012-08-24 | 2016-01-20 | 中国长江三峡集团公司 | Heavy construction equipment encoder spatial location, Intelligent collision avoidance system |
| CN103818831A (en) * | 2014-03-20 | 2014-05-28 | 中船第九设计研究院工程有限公司 | Fixed crane boom monitoring system |
| CN104444829A (en) * | 2014-09-24 | 2015-03-25 | 四川合能起重设备有限公司 | Intelligent collision-proof system and intelligent collision-proof method of crane |
| CN105158753A (en) * | 2015-09-21 | 2015-12-16 | 成都市新筑路桥机械股份有限公司 | Anti-collision detection device and detection method thereof |
| CN106185635A (en) * | 2016-08-09 | 2016-12-07 | 三海洋重工有限公司 | Crane collision resistant method and system |
| CN106495005A (en) * | 2016-12-23 | 2017-03-15 | 大连华锐重工起重机有限公司 | A kind of crane collision resistant detecting and controlling system |
| CN106495005B (en) * | 2016-12-23 | 2018-04-13 | 大连华锐重工起重机有限公司 | A kind of crane collision resistant detecting and controlling system |
| CN106542438A (en) * | 2017-01-13 | 2017-03-29 | 上海振华重工电气有限公司 | Ship shape scanning monitor |
| CN107337094A (en) * | 2017-08-15 | 2017-11-10 | 中船第九设计研究院工程有限公司 | A kind of large-sized gantry crane automatic stopping resets system |
| CN108089577A (en) * | 2017-12-05 | 2018-05-29 | 西安丰树电子科技发展有限公司 | Rail mounted window cleaning equipment safety monitoring system and anticollision forecast Control Algorithm |
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| CX01 | Expiry of patent term |