A method for calculating the lifting height of a hook of a luffing tower crane

Abstract

The application provides a jib type tower crane hook lifting height calculation method, and belongs to the technical field of tower crane safety monitoring and anti-collision. According to the analysis of the jib type tower crane lifting wire rope winding mode and the hook lifting principle, the distance between the jib frame hinge point and the ground, the distance caused by the hook height change after the jib frame amplitude change, and the distance between the hook and the bottom of the jib frame are calculated, and then the jib type tower crane hook lifting height is calculated. According to the different jib type tower crane models, different static parameters used for calculation are built in when the tower crane is delivered from the factory. Only the conventional height sensor calibration mode is needed, and the real-time hook height can be quickly and accurately obtained, which provides accurate data support for the tower crane anti-collision and ensures that no collision accidents occur when the tower crane is operated.

Description

Technical Field

[0001] This invention relates to the field of tower crane safety monitoring and collision prevention technology, and in particular to a method for calculating the lifting height of a luffing jib tower crane hook. Background Technology

[0002] With urbanization and increasingly dense building density, luffing jib tower cranes, a type of tower crane, are widely used in high-rise building hoisting operations due to their short counterweight jib and high space utilization. To improve safety and efficiency, most luffing jib tower cranes are equipped with digital safety monitoring systems that use various sensors to monitor the crane's status in real time. Hook height data is typically collected by installing sensors next to the hoisting mechanism drum. During luffing jib tower crane luffing operations, in addition to the jib tilting causing hook height changes, changes in the hoisting ropes also affect hook height. Traditionally, these height changes are calculated using approximate equivalents or compensation algorithms, which are not accurate enough. Summary of the Invention

[0003] The purpose of this invention is to provide a method for calculating the lifting height of a luffing jib tower crane hook, solving the technical problem that existing methods for calculating the lifting height of luffing jib tower crane hooks are not accurate enough. This method is convenient and accurate, providing precise data support for tower crane collision prevention and ensuring that collision accidents do not occur during tower crane operation.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A method for calculating the lifting height of a luffing jib tower crane hook is proposed. Based on the analysis of the wire rope winding method and the lifting principle of the hook, the method calculates the distance between the jib hinge point and the ground, the distance of the hook height change caused by the luffing of the jib, and the distance between the hook and the bottom of the jib. Then, the lifting height of the luffing jib tower crane hook is calculated.

[0006] Furthermore, the hoisting wire rope is wound in the following manner: the hoisting wire rope first comes out of the hoisting mechanism drum, passes through the upper pulley of the tower top support, then through the upper pulley and pulley of the lifting boom, and finally passes through the hook pulley and is fixed to the lifting boom.

[0007] Furthermore, the specific process for calculating the distance between the boom hinge point and the ground is as follows: H1 is the distance between the boom hinge point and the ground. After the tower crane is installed, this value remains constant and can be calculated from the design drawings.

[0008] Furthermore, the specific process for calculating the change in hook height caused by the luffing of the crane boom is as follows:

[0009] L is the total length of the crane jib, which is a constant value and can be measured from design drawings, a is the horizontal angle between the crane jib and the balance arm, which dynamically changes in real time and can be obtained by angle sensor calibration calculation, H2 is the horizontal height of the crane jib at the angle a after luffing, according to the trigonometric function formula, H2=L×sin a is obtained.

[0010] Further, the specific process of calculating the distance between the hook and the bottom of the crane jib is as follows:

[0011] H3 is the distance between the crane jib and the hook, taking the crane jib as the 0 point position, so the value is actually simplified as the length of the lifting drum rope, which can be calculated by a sensor installed beside the lifting mechanism drum using two-point calibration method, that is, the crane jib is luffed to a fixed angle, the hook is lowered to the ground, the sensor value a0 is read at this time, the corresponding lifting drum rope length b0=H1+H2, then the hook is raised to 2 meters away from the crane jib, the sensor value a1 is read at this time, the corresponding lifting drum rope length b1=2, so when the hook is lowered to a certain position, the current sensor value is a 实 , the distance between the crane jib and the hook

[0012] Further, the specific process of calculating the lifting height of the hook of the luffing tower crane is as follows:

[0013] β is the horizontal angle between the tower top support and the balance arm, which is a constant value and can be measured from design drawings;

[0014] θ is the horizontal angle between the arm hinge point and the lifting pulley connecting line of the crane jib, which is a constant value and can be measured from design drawings;

[0015] At this time, γ=180°-a-β-θ, γ is the included angle between the two sides;

[0016] Therefore, knowing the two sides L1, L2 and the included angle γ between the two sides, according to the trigonometric function formula, L3=L1×cos(γ-L2×sin(γ) is obtained.

[0017]

[0018] Taking the current a as 0° as the initial reference point, L3=L1×cos(γ-L2×sin(γ) is obtained.

[0019]

[0020] When the current arm angle is a, the change value of the lifting rope

[0021] ΔL=(L30-L3 α );

[0022] When the hook rope ratio is N, the change in the hoisting rope is converted into a change in hook height equal to ΔL / N;

[0023] The real-time lifting height H of the luffing jib tower crane hook is obtained as follows:

[0024] H = H1 + H2 - H3 + ΔL / N.

[0025] The present invention, by adopting the above-described technical solution, has the following beneficial effects:

[0026] This invention uses pre-set static parameters for calculations based on different luffing tower crane models at the factory. By simply following the conventional height sensor calibration method, the real-time hook height can be obtained quickly and accurately, providing accurate data support for tower crane collision prevention and ensuring that no collision accidents occur during tower crane operation. Attached Figure Description

[0027] Fig. 1 This is a diagram showing the structure of the luffing jib tower crane hook and the winding method of the hook lifting wire rope according to the present invention;

[0028] Fig. 2 This is a schematic diagram illustrating the calculation of the lifting height of the hook of the luffing tower crane according to the present invention.

[0029] In the attached diagram, 1-lifting wire rope, 2-lifting mechanism drum, 3-tower top support, 4-tower top support upper pulley, 5-lifting boom, 6-upper pulley lifting boom, 7-lifting boom pulley, 8-hook pulley. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. However, it should be noted that many details listed in the specification are merely to provide the reader with a thorough understanding of one or more aspects of the present invention, and these aspects of the invention can be implemented even without these specific details.

[0031] like Figs. 1-2 As shown, a method for calculating the lifting height of a luffing jib tower crane hook is analyzed based on the winding method of the lifting wire rope and the lifting principle of the hook. The lifting wire rope 1 first exits from the hoisting mechanism drum 2, passes through the pulley 4 on the tower top support 3, then through pulleys 6 and 7 on the jib frame 5, and finally passes through the hook pulley 8 and is fixed to the jib frame. The hook height calculation is decomposed into three parts:

[0032] Part 1: Height of the crane boom hinge point from the ground.

[0033] Part Two: The distance of hook height change caused by boom luffing, mainly divided into boom horizontal height and lifting rope length.

[0034] Third part: the distance between the hook and the bottom of the lifting boom.

[0035] According to the lifting wire rope winding mode of the luffing tower crane and the lifting principle of the hook, the hook height is divided into three parts.

[0036] Specifically, H1 is the height of the arm frame hinge point from the ground, which is constant after the tower crane is installed and can be calculated through design drawings.

[0037] L is the total length of the lifting boom, which is a constant value and can be measured through design drawings.

[0038] α is the horizontal angle between the lifting boom and the balance arm, which dynamically changes in real time and can be obtained by calibration and calculation through an angle sensor.

[0039] H2 is the horizontal height under the angle α after the luffing of the lifting boom, according to the trigonometric function formula, it is obtained that

[0040] H2 = L × sin α.

[0041] H3 is the distance between the lifting boom and the hook, taking the lifting boom as the 0 point position, so this value is actually simplified to the length of the lifting drum out of the rope, which can be calculated by a sensor installed beside the lifting mechanism drum using the two-point calibration method, that is, the lifting boom is luffed to a fixed angle, the hook is lowered to the ground, the sensor value a0 is read at this time, the corresponding lifting drum out of the rope length b0 = H1 + H2, then the hook is raised to 2 meters away from the lifting boom, the sensor value a1 is read at this time, the corresponding lifting drum out of the rope length b1 = 2. Therefore, when the hook is lowered to a certain position, the current sensor value is a 实 , the distance between the lifting boom and the hook

[0042]

[0043] β is the horizontal angle between the tower top support and the balance arm, which is a constant value and can be measured through design drawings.

[0044] θ is the horizontal angle between the arm frame hinge point and the lifting boom lifting pulley connecting line, which is a constant value and can be measured through design drawings.

[0045] Therefore, γ = 180° - α - β - θ.

[0046] Therefore, given two sides L1, L2 and the included angle γ between the two sides, according to the trigonometric function formula, it is obtained that

[0047]

[0048] Taking the current alpha as 0° as the initial reference point, the following is obtained

[0049]

[0050] Therefore, when the current arm support elevation angle is alpha, the change value of the lifting rope is

[0051] Delta L = (L30-L3 α ).

[0052] When the hook winding rope ratio is N, the change value of the lifting rope converted into the change value of the hook height is equal to Delta L / N.

[0053] By comprehensively integrating the above various data into the formula

[0054] H = H1 + H2-H3 + Delta L / N

[0055] The real-time jib type tower crane hook lifting height H is obtained.

[0056] The method has the characteristics of convenient calculation and accuracy, provides accurate data support for tower crane anti-collision, and ensures that no collision accidents occur when the tower crane is operated.

[0057] The above only describes the preferred embodiments of the present application, and it should be noted that for ordinary skilled persons in the art, several improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method for calculating the lifting height of a hook of a jib type tower crane, characterized in that: According to the analysis of the luffing wire rope winding mode of the luffing jib tower crane and the hook luffing principle, the distance between the luffing jib hinged point and the ground, the distance of the hook height change caused by the luffing jib luffing, and the distance between the hook and the bottom of the luffing jib are calculated, and then the hook luffing height of the luffing jib tower crane is calculated; The specific process of calculating the distance between the hook and the bottom of the luffing jib is as follows: H3 is the distance between the crane jib and the hook, taking the crane jib as the 0 point position, so the value is actually simplified as the length of the lifting drum rope, a sensor installed beside the lifting mechanism drum is calculated by two-point calibration method, that is, the crane jib is varied to a fixed angle, the hook is lowered to the ground, the sensor value a0 at this time is read, the corresponding lifting drum rope length b0 = H1 + H2, then the hook is raised to 2 meters away from the crane jib, the sensor value a1 at this time is read, the corresponding lifting drum rope length b1 = 2, so when the hook is lowered to a certain position, the current sensor value is a 实 , the distance H3 between the crane jib and the hook is ; The specific process of calculating the hook luffing height of the luffing jib tower crane is as follows: β is the horizontal angle between the tower top support and the balance arm, which is a constant value and is measured from the design drawing; θ is the horizontal angle between the luffing jib hinged point and the luffing jib luffing pulley connecting line, which is a constant value and is measured from the design drawing; At this time, γ = 180°-α-β-θ, γ is the included angle between the two sides; Therefore, given the two sides L1 and L2 and the included angle γ between the two sides, according to the trigonometric function formula, we get L3 α = ； Taking the current α as 0° as the initial reference point, we get L30= ； When the current luffing jib angle is α, the luffing rope change value is ΔL = (L30 - L3 α ); When the hook winding ratio is N, the luffing rope change value converted into the hook height change value is equal to ΔL / N; The real-time hook luffing height H of the luffing jib tower crane is obtained as follows: H = H1+H2-H3+ΔL / N.

2. The method for calculating the lifting height of a luffing jib tower crane hook according to claim 1, characterized in that: The luffing wire rope winding mode is that the luffing wire rope first comes out from the luffing mechanism drum, passes through the upper pulley of the tower top support, and then passes through the upper pulley and pulley of the luffing jib, and finally passes through the hook pulley and is fixed on the luffing jib.

3. The method according to claim 2, wherein the method is characterized in that: The specific process of calculating the distance between the luffing jib hinged point and the ground is as follows: H1 is the distance between the luffing jib hinged point and the ground, which is a constant value and is calculated from the design drawing after the tower crane is installed.

4. The method according to claim 3, wherein the method comprises the steps of: calculating the height of the hook of the tower crane based on the length of the boom and the angle of the boom. The specific process of calculating the distance of the hook height change caused by the luffing jib luffing is as follows: L is the total length of the luffing jib, which is a constant value and is measured from the design drawing, α is the horizontal angle between the luffing jib and the balance arm, which is a dynamic real-time change, and the angle sensor is calibrated and calculated to obtain, H2 is the horizontal height under the α angle after the luffing jib luffing, which is calculated according to the trigonometric function formula.

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