A lifting control method for a multi-functional jib crane

Abstract

The present invention discloses a lifting control method for a multi-functional jib crane, which relates to the technical field of crane control and solves the technical problem of intelligent lifting control of a multi-functional jib crane; the goods-taking device grabs the goods at the goods-taking location, and the goods information acquisition device obtains the goods information by scanning the bar code pasted on the goods; the processing unit judges the goods information, and if it is the goods type corresponding to the current goods-taking device, it continues to grab the goods; the weighing module weighs the goods, and the processing unit processes the goods weight; the goods center of gravity detection module detects the height of the goods center of gravity position from the ground position when the goods are lifted through an infrared sensor. When the height of the goods center of gravity from the ground is the preset maximum threshold, the processing unit sends a goods transportation instruction to the rotation control unit, the running control unit, and the lifting control unit; after the navigation module detects that the goods have reached the ground, the goods-taking device unloads the goods.

Description

Technical Field

[0001] The invention belongs to the technical field of crane control, and in particular relates to a lifting control method for a multifunctional cantilever crane. Background Art

[0002] Jib crane is a small and medium-sized lifting equipment developed in recent years. It is a light crane, consisting of a column, a slewing arm slewing drive device and an electric hoist. The lower end of the column is fixed to the concrete foundation by anchor bolts, and the cycloid pinwheel reducer drives the slewing arm. The electric hoist runs straight left and right on the cantilever I-beam and lifts heavy objects. It has a unique structure, is safe and reliable, has a light weight, a large span, and has the characteristics of high efficiency, energy saving, time and labor saving, and flexibility. In the case of segmented and intensive transportation, it shows its superiority over other conventional lifting equipment.

[0003] However, the cantilever crane still requires too much manual control during operation and is not intelligent enough. Therefore, the present invention proposes a multifunctional cantilever crane lifting control method. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a multifunctional cantilever crane hoisting control method, which solves the technical problem of multifunctional cantilever crane intelligently controlling hoisting.

[0005] To achieve the above object, according to an embodiment of the first aspect of the present invention, a multifunctional cantilever crane hoisting control method is provided, which is applied to a hoisting control system and comprises the following steps:

[0006] Step 1: The picking device grabs the goods at the picking location, and the goods information collection device obtains the goods information by scanning the barcode attached to the goods, and sends the goods information to the lifting control center;

[0007] Step 2: The storage unit of the lifting control center stores the cargo information sent by the cargo identification device, and the processing unit analyzes and processes the cargo information extracted from the storage unit; if it is the cargo type corresponding to the current picking device, the processing unit sends a continue grabbing instruction to the picking device;

[0008] Step 3: After the picking device grabs the goods, the weighing module weighs the goods and sends the weight of the goods to the lifting control center for processing. The processing unit issues different instructions according to the weight of the goods;

[0009] Step 4: The cargo center-of-gravity detection module detects the height of the cargo's center of gravity from the ground position when the cargo is lifted through an infrared sensor, and sends the height of the cargo's center of gravity from the ground to the lifting control center; the processing unit makes different responses according to the height of the cargo's center of gravity.

[0010] Step 5: When the height of the cargo's center of gravity from the ground reaches the preset maximum threshold, the processing unit sends a cargo transportation instruction to the rotation control unit, the operation control unit, and the lifting control unit.

[0011] The rotation control unit, the operation control unit, and the lifting control unit perform cargo transportation work according to the cargo transportation navigation route generated by the navigation module.

[0012] Step 6: After the navigation module detects that the cargo has reached the ground, it sends the information that the cargo has reached the ground to the lifting control center. After receiving the information that the cargo has reached the ground, the processing unit sends a unloading instruction to the picking device. The picking device unloads the cargo and sends a return-to-picking-location instruction to the lifting control module, the operation control module, and the rotation control module. The lifting control module, the operation control module, and the rotation control module perform picking work according to the return-to-starting-point route of the navigation module.

[0013] Furthermore, the lifting control system includes: a navigation module, a picking device, a cargo information collection device, a weighing module, a cargo center-of-gravity detection module, a lifting control center, a lifting device, a rotating device, a running device, and an alarm module; the cargo information collection device is installed on the picking device.

[0014] The navigation module is used to generate a cargo transportation navigation route according to the picking location and the unloading location planned by the staff; the navigation module is also used to detect the position of the cargo.

[0015] The picking device is used to grasp and transport the cargo.

[0016] The cargo information collection device is used to scan the barcode pasted on the cargo to obtain cargo information, and send the obtained cargo information to the lifting control center; the cargo information collection device is installed on the picking device.

[0017] The weighing module is used to weigh the cargo.

[0018] The cargo center-of-gravity detection module is used to detect the height of the cargo's center of gravity from the ground during lifting, and send the obtained height of the cargo's center of gravity to the lifting control center.

[0019] The lifting control center is used to analyze and process the cargo information, the cargo weight, and the height of the cargo's center of gravity; the lifting control center includes a storage unit, a processing unit, a lifting control unit, a rotation control unit, and an operation control unit.

[0020] The lifting device is used for lifting goods;

[0021] The rotating device is used to control the crossbeam of the crane to rotate around the column of the crane to a specified position;

[0022] The running device is used to control the goods to move along the straight line direction of the crossbeam;

[0023] The alarm module is wirelessly connected to the lifting control module. The alarm module is used to emit a beeping alarm sound and give a voice prompt according to the processing result of the lifting control center.

[0024] Further, the processing unit processes the received goods information as follows:

[0025] The processing unit marks the received goods information as Xi, where X represents the type of goods and i represents the serial number of the goods lifted in chronological order; different types of goods are preset to correspond to different types of goods-taking devices, and different goods-taking devices are selected according to different goods types.

[0026] Further, the processing unit processes the received goods weight as follows:

[0027] The processing unit marks the goods weight as Ai, and the preset weight threshold for the crane to lift goods is As; if Ai < As, the processing unit sends a trigger lifting instruction to the lifting control unit, and the lifting control unit controls the lifting device to lift the goods; if Ai > As, the processing unit sends an overweight warning message to the alarm module, and the alarm module emits a beeping alarm sound and gives a voice prompt that the goods are overweight, and the staff reduces the weight of the goods and repackages them.

[0028] Further, the processing unit processes the height of the center of gravity of the received goods from the ground as follows:

[0029] The processing unit marks the height of the center of gravity of the goods from the ground as Hi, the preset maximum threshold for the center of gravity height of the goods is Hmax, and the preset minimum threshold for the center of gravity height of the goods is Hmin;

[0030] If Hi = Hmax, the processing unit sends a lifting pause instruction to the lifting control unit, and the processing unit also sends a goods transportation instruction to the rotation control unit and the running control unit; if Hmin < Hi < Hmax, there is no response; if Hi > Hmax, the processing unit sends an instruction to lower the center of gravity height of the goods to Hmax to the lifting control unit, and the lifting control unit controls the lowering motor to lower the center of gravity of the goods to Hmax; if Hi < Hmin and the goods are in the lifted state, there is no operation, if Hi < Hmin and the goods are in the lowering state, the processing unit sends an instruction to slowly lower to the ground to the lifting control unit, and the lifting control unit controls the lifting device to slowly lower the goods to the ground.

[0031] Further, the working process of the rotation control unit, the operation control unit, and the lifting control unit for unloading according to the cargo transportation navigation route generated by the navigation module is as follows:

[0032] The rotation control unit first controls the crossbeam of the crane to rotate around the column of the crane to the direction of the unloading location. The operation control unit controls the operating device to move the cargo along the straight line direction of the crane crossbeam, and the lifting control unit controls the cargo to descend uniformly from a high altitude to the ground;

[0033] Further, the distances between the pick-up location and the unloading location in the cargo transportation navigation route and the column of the crane do not exceed the length of the crane crossbeam.

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0035] In the present invention, the goods are grabbed and transported by the goods taking device, the information of the goods is collected by the goods information collection device, and the storage unit of the lifting control center stores the goods information, which is convenient for querying the records of subsequent goods transportation; the processing unit selects the corresponding goods taking device according to the type of goods in the goods information, and can safely and effectively deliver different goods to the unloading location without damage; according to the weighing of the goods by the weighing module, the processing unit judges whether the goods are overweight, so as to avoid damage to the crane caused by the goods exceeding the rated weight of the crane and the occurrence of safety accidents; through the detection of the height of the center of gravity of the goods from the ground by the goods center of gravity detection module, the processing unit can quickly judge whether the goods are lifted too high and cause safety problems, and when the goods reach the set height, it notifies the rotation control unit, the operation control unit, and the lifting control unit to transport the goods; finally, when the goods reach the ground, the processing unit notifies the rotation control unit, the operation control unit, and the lifting control unit to return to the goods taking location to continue the goods taking work; the present invention controls the transportation of the goods through the lifting control system, which is flexible and convenient, greatly reduces the labor cost, and solves the technical problem of intelligent control of lifting for a multi-functional cantilever crane. Description of the Drawings

[0036] Figure 1 It is a method step diagram of the present invention. Detailed Embodiments

[0037] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0038] Such as Figure 1As shown in the figure, a lifting control method for a multi-functional cantilever crane is applied to a lifting control system. The lifting control system includes: a navigation module, a goods picking device, a goods information collection device, a weighing module, a goods center of gravity detection module, a lifting control center, a lifting device, a rotating device, a running device, and an alarm module; the goods information collection device is installed on the goods picking device;

[0039] The navigation module is used to generate a freight navigation route according to the picking location and unloading location planned by the staff; the navigation module is also used to detect the position of the goods;

[0040] The goods picking device is used to grab and carry the goods;

[0041] The goods information collection device is used to scan the barcode pasted on the goods to obtain the goods information, and send the obtained goods information to the lifting control center; the goods information collection device is installed on the goods picking device;

[0042] The weighing module is used to weigh the goods;

[0043] The goods center of gravity detection module is used to detect the height of the center of gravity of the goods from the ground during lifting, and send the obtained height of the center of gravity of the goods to the lifting control center;

[0044] The lifting control center is used to process the goods information and the height of the center of gravity of the goods; the lifting control center includes a storage unit, a processing unit, a lifting control unit, a rotating control unit, and a running control unit;

[0045] The lifting device is used to lift and lower the goods;

[0046] The rotating device is used to control the crossbeam of the crane to rotate around the column of the crane to a specified position;

[0047] The running device is used to control the goods to move along the straight line direction of the crossbeam;

[0048] The alarm module is wirelessly connected to the lifting control module, and the alarm module is used to emit a beeping alarm sound and voice prompt according to the processing result of the lifting control center.

[0049] A lifting control method for a multi-functional cantilever crane is applied to a lifting control system. The method includes the following steps:

[0050] Step 1: The goods picking device grabs the goods at the picking location. The goods information collection device obtains the goods information by scanning the barcode pasted on the goods, and sends the goods information to the lifting control center;

[0051] It should be noted that a bar code indicating the goods information is pasted on the goods to be lifted, and the goods information includes the goods name or number, goods type, goods pickup location, and goods unloading location;

[0052] Step 2: The storage unit of the lifting control center stores the goods information sent by the goods identification device. The processing unit of the lifting control center sends a goods information extraction signal to the storage unit, and the storage unit sends the goods information to the processing unit; the processing unit marks the received goods information as Xi, where X represents the goods type and i represents the serial number of the goods lifted in chronological order; different types of goods are preset to correspond to different types of goods-taking devices. According to different goods types, different goods-taking devices are selected; if it is the goods type corresponding to the current goods-taking device, the processing unit sends a continue-grabbing instruction to the goods-taking device;

[0053] Among them, the goods types include coil goods, box goods, block goods, bundle goods, disk goods, root goods, etc., and the goods-taking devices specifically include hooks, lifting electromagnets, lifting vacuum suckers, grabs, and special container lifting appliances, etc.; different goods-taking devices are adopted for different goods types; generally, within the same period of time, the crane lifts the same type of goods; when lifting different goods, different goods-taking devices are replaced;

[0054] Step 3: After the goods-taking device grabs the goods, the weighing module weighs the goods and sends the weight of the goods to the lifting control center. The processing unit marks the weight of the goods as Ai, and the preset weight threshold for the crane to lift the goods is As; if Ai < As, the processing unit sends a trigger-lifting instruction to the lifting control unit, and the lifting control unit controls the lifting device to lift the goods; if Ai > As, the processing unit sends an overweight warning message to the alarm module, and the alarm module emits a beeping alarm sound and gives a voice prompt that the goods are overweight, and the staff reduces the weight of the goods and repackages them;

[0055] Step 4: The goods center of gravity detection module detects the height of the goods center of gravity position from the ground when the goods are lifted through an infrared sensor, and sends the height of the goods center of gravity from the ground to the lifting control center;

[0056] The processing unit marks the height of the goods center of gravity from the ground as Hi, the preset maximum threshold for the goods center of gravity height is Hmax, and the preset minimum threshold for the goods center of gravity height is Hmin;

[0057] If Hi = Hmax, the processing unit sends a hoisting pause instruction to the hoisting control unit, and the processing unit also sends a goods transportation instruction to the rotation control unit and the running control unit; if Hmin < Hi < Hmax, there is no response; if Hi > Hmax, the processing unit sends an instruction to lower the center of gravity of the goods to Hmax to the hoisting control unit, and the hoisting control unit controls the lowering motor to lower the center of gravity of the goods to Hmax; if Hi < Hmin and the goods are in the hoisting state, there is no operation. If Hi < Hmin and the goods are in the lowering state, the processing unit sends an instruction to slowly lower to the ground to the hoisting control unit, and the hoisting control unit controls the lifting device to slowly lower the goods to the ground;

[0058] Step Five: When the height of the center of gravity of the goods from the ground is Hmax, the processing unit sends a goods transportation instruction to the rotation control unit, the running control unit, and the hoisting control unit;

[0059] The rotation control unit, the running control unit, and the hoisting control unit perform goods transportation work according to the goods transportation navigation route generated by the navigation module; the rotation control unit first controls the crossbeam of the crane to rotate around the column of the crane to the direction of the unloading location, the running control unit controls the running device to move the goods along the straight line direction of the crane crossbeam, and the hoisting control unit controls the goods to descend from a high altitude to the ground at a constant speed;

[0060] It should be noted that the navigation module generates a goods transportation navigation route according to the pick-up location and the unloading location set by the staff. The distances between the pick-up location and the unloading location in the goods transportation navigation route and the column of the crane do not exceed the length of the crane crossbeam;

[0061] Step Six: After the navigation module detects that the goods have reached the ground, it sends the information that the goods have reached the ground to the hoisting control center. After the processing unit receives that the goods have reached the ground, it sends a unloading instruction to the goods picking device. The goods picking device unloads the goods and sends an instruction to return to the pick-up location to the hoisting control module, the running control module, and the rotation control module. The hoisting control module, the running control module, and the rotation control module perform pick-up work according to the return starting point route of the navigation module.

[0062] The above embodiments are only used to illustrate the technical method of the present invention and not to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical method of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A lifting control method for a multi-functional jib crane, applied to a lifting control system, characterized in that, The steps include the following: Step 1: The picking device grabs the goods at the picking location. The goods information collection device obtains the goods information by scanning the barcode pasted on the goods, and sends the goods information to the lifting control center. Step 2: The storage unit of the lifting control center stores the goods information sent by the goods identification device, and the processing unit analyzes and processes the goods information extracted from the storage unit. If it is the goods type corresponding to the current picking device, the processing unit sends a continue-grabbing instruction to the picking device. Step 3: After the picking device grabs the goods, the weighing module weighs the goods and sends the weight of the goods to the lifting control center for processing. The processing unit issues different instructions according to the weight of the goods. Step 4: The goods center-of-gravity detection module detects the height of the goods center-of-gravity position from the ground when the goods are lifted through an infrared sensor, and sends the height of the goods center-of-gravity from the ground to the lifting control center. The processing unit makes different responses according to the height of the goods center-of-gravity. Step 5: When the height of the goods center-of-gravity from the ground reaches the preset maximum threshold, the processing unit sends a goods-transporting instruction to the rotation control unit, the running control unit, and the lifting control unit. The rotation control unit, the running control unit, and the lifting control unit perform the goods-transporting work according to the goods-transporting navigation route generated by the navigation module. Step 6: After the navigation module detects that the goods reach the ground, it sends the information that the goods reach the ground to the lifting control center. After receiving the information that the goods reach the ground, the processing unit sends a unloading instruction to the picking device. The picking device unloads the goods and sends a return-to-picking-location instruction to the lifting control module, the running control module, and the rotation control module. The lifting control module, the running control module, and the rotation control module perform the picking work according to the return-to-starting-point route of the navigation module. The processing process of the processing unit for the received goods information is as follows: The processing unit marks the received goods information as Xi, where X represents the type of goods and i represents the serial number of the goods lifted in chronological order. Different types of goods are preset to correspond to different types of picking devices, and different picking devices are selected according to different goods types. The processing process of the processing unit for the height of the goods center-of-gravity from the ground is as follows: The processing unit marks the height of the goods center-of-gravity from the ground as Hi, presets the maximum threshold of the goods center-of-gravity height as Hmax, and presets the minimum threshold of the goods center-of-gravity height as Hmin. If Hi = Hmax, the processing unit sends a lifting-pause instruction to the lifting control unit, and the processing unit also sends a goods-transporting instruction to the rotation control unit and the running control unit. If Hmin < Hi < Hmax, there is no response. If Hi > Hmax, the processing unit sends an instruction to lower the goods center-of-gravity height to Hmax to the lifting control unit, and the lifting control unit controls the landing motor to lower the center-of-gravity of the goods to Hmax. If Hi < Hmin and the goods are in the lifting state, there is no operation. If Hi < Hmin and the goods are in the landing state, the processing unit sends an instruction to slowly land to the ground to the lifting control unit, and the lifting control unit controls the lifting device to slowly lower the goods to the ground.

2. The lifting control method of a multi-functional cantilever crane according to claim 1, wherein, The lifting control system includes: a navigation module, a goods-taking device, a goods information acquisition device, a weighing module, a goods center-of-gravity detection module, a lifting control center, a lifting device, a rotating device, a running device, and an alarm module; the goods information acquisition device is installed on the goods-taking device; The navigation module is used to generate a freight transportation navigation route according to the pick-up location and the unloading location planned by the staff; the navigation module is also used to detect the position of the goods; The goods-taking device is used to grasp and transport the goods; The goods information acquisition device is used to scan the barcode pasted on the goods to obtain goods information, and send the obtained goods information to the lifting control center; the goods information acquisition device is installed on the goods-taking device; The weighing module is used to weigh the goods; The goods center-of-gravity detection module is used to detect the height of the center of gravity of the goods from the ground during lifting, and send the obtained height of the center of gravity of the goods to the lifting control center; The lifting control center is used to analyze and process the goods information, the goods weight, and the height of the center of gravity of the goods; the lifting control center includes a storage unit, a processing unit, a lifting control unit, a rotation control unit, and a running control unit; The lifting device is used to lift and lower the goods; The rotating device is used to control the crossbeam of the crane to rotate around the column of the crane to a specified position; The running device is used to control the goods to move along the straight direction of the crossbeam; The alarm module is wirelessly connected to the lifting control module, and the alarm module is used to emit a beeping alarm sound and voice prompt according to the processing result of the lifting control center.

3. A lifting control method for a multi-functional cantilever crane according to claim 1, characterized in that The process of the processing unit processing the received goods weight is as follows: The processing unit marks the goods weight as Ai, and the preset weight threshold for the crane to lift goods is As; if Ai < As, the processing unit sends a trigger lifting instruction to the lifting control unit, and the lifting control unit controls the lifting device to lift the goods; if Ai > As, the processing unit sends an overweight warning message to the alarm module, and the alarm module emits a beeping alarm sound and voice prompts that the goods are overweight, and the staff reduces the weight of the goods and repackages it.

4. A lifting control method for a multi-functional cantilever crane according to claim 1, characterized in that The working process of the rotation control unit, the running control unit, and the lifting control unit unloading according to the freight transportation navigation route generated by the navigation module is as follows: The rotation control unit first controls the crossbeam of the crane to rotate around the column of the crane to the direction of the unloading location, the running control unit controls the running device to move the goods along the straight direction of the crane crossbeam, and the lifting control unit controls the goods to descend evenly from a high altitude to the ground.

5. A lifting control method for a multi-functional cantilever crane according to claim 1, characterized in that, The distances between the pick-up location and the unloading location and the column of the crane in the freight transportation navigation route do not exceed the length of the crane crossbeam.

Images