A verification method for measuring lifting accuracy

Abstract

The present invention provides a method for measuring lifting accuracy, which includes a boom, a winch, a wire rope, an AHC control system, and a posture motion measurement sensor. The AHC control system also includes a CDP system and an encoder. The wire rope displacement is detected by the AHC control system, and the load displacement is detected by the posture motion measurement sensor. Then, the wire rope displacement is compared with the load displacement to determine whether it falls within an error range, thereby accurately verifying the lifting height of the crane.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a verification method for measuring lifting accuracy. Background Art

[0002] With the development of social industry, the application of cranes is becoming more and more extensive. When cranes perform special lifting operations, the height of the lifting weight and the hook from the ground is closely related to the safety and accuracy of the lifting. Therefore, it is necessary to accurately measure the lifting height of the goods lifted by the crane. For example, the patent document with Chinese patent application number 201710206069.3 and publication date 2018.10.16 discloses a device for measuring the lifting height of a bridge crane. The device includes a diaphragm coupling of a lifting drum shaft, a first sprocket, a second sprocket, a chain, a support seat and an absolute encoder. The first sprocket is connected to the diaphragm coupling by bolts and rotates synchronously with the diaphragm coupling. The support seat is arranged on the reducer housing of the lifting drum. The second sprocket is arranged on the support seat through a wheel shaft. The chain is engaged with the first sprocket and the second sprocket respectively, and the absolute encoder is arranged on the wheel shaft of the second sprocket.

[0003] In this structure, an absolute encoder is used to collect the number of rotations of the second sprocket, thereby obtaining the number of rotations of the diaphragm coupling, and then the information is transmitted to the safety monitoring management system through the communication interface. After conversion, the lifting height value of the bridge crane is obtained; however, this structure can only calculate the lifting height value, but it cannot verify whether the lifting height matches the rising height of the wire rope, and thus cannot verify whether the measured height value is within the error range, and thus cannot determine whether the measured height value is the correct height value. Summary of the Invention

[0004] The purpose of the present invention is to provide a verification method for measuring lifting accuracy, which can accurately verify the lifting height of a crane.

[0005] To achieve the above purpose, a method for measuring lifting accuracy is proposed to verify the lifting height of a load lifted by a crane. The crane includes a boom, a winch, a wire rope, an AHC control system, and an attitude motion measurement sensor.

[0006] The following steps are also included:

[0007] S1. Wrap one end of the wire rope around the winch and connect the other end of the wire rope to the load. Then, connect the AHC control system and the attitude motion measurement sensor to the display terminal.

[0008] S2. Theoretical wire rope displacement and load displacement at the preset load lifting height;

[0009] S3. The AHC control system rotates the winch and simultaneously detects the displacement of the wire rope and the load. The detected wire rope displacement is compared with the theoretical wire rope displacement to preliminarily verify the load lifting height.

[0010] S4. Use the posture motion measurement sensor to detect the vertical displacement of the load and compare the detected load displacement with the theoretical load displacement to verify the load lifting height again.

[0011] S5. Compare the wire rope displacement and the load displacement to determine whether the wire rope displacement and the load displacement are within the error range; if so, proceed to step S6;

[0012] S6. Change to a different load, repeat steps S3-S5, and record the different comparative data obtained for different loads. Then analyze the data and verify the lifting height of the load.

[0013] The above settings are configured to connect the AHC control system and the attitude motion measurement sensor to the display end respectively, so that the wire rope displacement data detected by the AHC control system can be transmitted to the display end and displayed, and the load displacement data detected by the attitude motion measurement sensor can be transmitted to the display end and displayed; by comparing the wire rope displacement with the theoretical wire rope displacement, and at the same time comparing the load displacement with the theoretical load displacement, it can be determined whether the compared wire rope displacement and load displacement are within the error range of the theoretical displacement, and through preliminary determination and re-determination, it is achieved that the wire rope and load displacements are within the theoretical distance range, and then it is convenient to compare the wire rope displacement and load displacement that fall within the error range again, so as to determine the load lifting height; and by setting up to replace different loads and recording different comparison data obtained by different loads, this can avoid the accidental occurrence of a single set of test data, thereby affecting the accurate verification of the load lifting height.

[0014] Furthermore, the AHC control system includes a CDP system and an encoder; the step S3 further includes the following steps:

[0015] S3.1 Start the AHC control system, so that the CDP system controls the winch rotation to retract and release the rope, and preset the error range between the wire rope displacement and the theoretical wire rope displacement to [-5cm, 5cm];

[0016] S3.2 The encoder installed on the winch detects the displacement of the wire rope and transmits the wire rope displacement data to the AHC control system for storage. At the same time, it outputs the time-wire rope displacement curve in the CDP system and finally displays it on the display terminal;

[0017] S3.3 After the AHC control system runs smoothly, compare the wire rope displacement curve with the theoretical wire rope displacement curve to preliminarily verify the load lifting height.

[0018] The above settings enable the encoder to detect the wire rope displacement according to the angle of winch rotation, and then obtain the time-wire rope displacement curve through conversion in the CDP system, which is finally convenient for comparison with the theoretical displacement curve.

[0019] Furthermore, the step S4 further includes:

[0020] The load displacement data in the vertical direction is transmitted to the display end, and a time-load displacement curve is generated at the display end. The load displacement curve is then compared with the load theoretical displacement curve.

[0021] The above settings can once again verify the load lifting height through the load displacement.

[0022] Furthermore, the step S3.3 further includes:

[0023] S3.3.1 In the time-wire rope displacement curve, take one cycle as a unit and calculate the wire rope travel in each cycle by the maximum rising and falling displacements of the wire rope;

[0024] S3.3.2 Calculate the difference between the wire rope travel and the theoretical travel shown in the wire rope theoretical displacement curve;

[0025] S3.3.3 Determine whether the difference is within the preset error range [-5 cm, 5 cm].

[0026] The above setting can determine whether the wire rope displacement is within the preset error range, thereby determining that the wire rope displacement obtained in the AHC control system is a valid value.

[0027] Furthermore, the step S4 further includes:

[0028] S4.1 Error range of the difference between the preset load displacement and the theoretical load displacement;

[0029] S4.2 In the time-load displacement curve, take one cycle as a unit and calculate the load travel of each cycle by the load's rising displacement extreme value and falling displacement extreme value;

[0030] S4.3 Calculate the difference between the load stroke and the theoretical stroke in the load theoretical displacement curve;

[0031] S4.4 determines whether the difference is within a preset error range.

[0032] The above setting can determine whether the load displacement is within the preset error range, thereby determining that the load displacement obtained in the display terminal is a valid value.

[0033] Furthermore, the step S5 further includes:

[0034] S5.1 Preset the error range of the difference between the wire rope displacement and the load displacement;

[0035] S5.2 Take one cycle as the unit and calculate the wire rope travel and load travel separately within the same cycle;

[0036] S5.3 Calculate the difference between the rope travel and the load travel;

[0037] S5.4 determines whether the difference is within a preset error range.

[0038] The above setting can compare whether the wire rope displacement and the load displacement are within the preset error range, thereby determining that the wire rope displacement and the load displacement are the same within the error range, and then verifying that the load lifting height meets the standard.

[0039] Furthermore, the step S6 further includes:

[0040] By analyzing whether different data of different loads are within the error range, it is verified that the lifting height of the load is within the error range.

[0041] The above settings can verify the lifting height of the load by analyzing the data of different loads, preventing the accidental occurrence of only a single set of test data, which in turn affects the accurate verification of the load lifting height.

[0042] Furthermore, the AHC control system is arranged on a rotating platform, the winch is arranged on a boom, one end of the wire rope is wound around and connected to the winch, and the other end of the wire rope is passed around the pulley frame on the boom to connect to the weight block, and a posture motion measurement sensor is provided above the weight block, and the posture motion measurement sensor and the AHC control system are respectively connected to the display end.

[0043] The above setting, by setting the AHC control system on the rotary platform, makes it convenient to control the rotation of the winch through the AHC control system, thereby driving the wire rope to pull the weight to lift; at the same time, the posture motion measurement sensor is set on the weight, and the posture motion measurement sensor and the AHC control system are respectively connected to the display end, so that the vertical displacement of the weight can be detected by the posture motion measurement sensor, the displacement of the wire rope can be detected by the AHC control system, and then the data can be displayed on the display end. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1It is a schematic diagram of the overall structural connection in the present invention.

[0045] Figure 2 It is a flow chart of the steps of the present invention.

[0046] Figure 3 This is a time-wire rope displacement curve diagram in the present invention.

[0047] Figure 4 This is a time-load displacement curve diagram in the present invention.

[0048] Figure 5 Schematic diagram comparing the wire rope displacement curve and the load displacement curve in the present invention. DETAILED DESCRIPTION

[0049] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] like Figure 1 As shown, a verification method for measuring lifting accuracy includes a boom 1, a winch 2, a wire rope 3, an AHC (active suspension height) control system 4, and an attitude motion measurement sensor 5. The AHC control system 4 includes a CDP system and an encoder. The AHC control system 4 is arranged on a rotary platform 6, and the winch 2 is arranged on the boom 1. One end of the wire rope 3 is wound around the winch 2, and the other end of the wire rope 3 is passed around a pulley frame on the boom 1 and connected to a load 7. The attitude motion measurement sensor 5 is arranged above the load 7. The attitude motion measurement sensor 5 and the AHC control system 4 are respectively connected to a display terminal 8.

[0051] like Figure 2 As shown, in this embodiment, a verification method for measuring lifting accuracy also includes the following specific steps:

[0052] S1. Wrap one end of the wire rope around the winch and connect the other end of the wire rope to the load. Then, connect the AHC control system and the attitude motion measurement sensor to the display terminal.

[0053] S2. Preset the theoretical displacement of the wire rope and the theoretical displacement of the load at the load lifting height, and generate a time-theoretical displacement curve on the display terminal;

[0054] S3. The AHC control system rotates the winch and detects the displacement of the wire rope, and compares the detected displacement of the wire rope with the theoretical displacement of the wire rope.

[0055] S3.1 Start the AHC control system, causing the CDP system to control the winch rotation to retract and release the wire rope. In this embodiment, the error range of the difference between the preset wire rope displacement and the theoretical displacement is [-5 cm, 5 cm];

[0056] S3.2 The encoder installed on the winch detects the displacement of the wire rope and transmits the wire rope displacement data to the AHC control system for storage. At the same time, it outputs the time-wire rope displacement curve in the CDP system and finally displays it on the display terminal;

[0057] S3.3 After the AHC control system runs smoothly, compare the wire rope displacement curve with the wire rope theoretical displacement curve, such as Figure 3 As shown, the x-axis represents time t, and the y-axis represents the wire rope displacement y1.

[0058] S3.3.1 In the time-wire rope displacement curve, one cycle is used as a unit. In this embodiment, one cycle is set to 10s. The wire rope travel of each cycle is calculated by the rising displacement extreme value and the falling displacement extreme value of the wire rope; Figure 3 As shown, the wire rope is formed as 2*y1.

[0059] S3.3.2 Calculate the difference between the wire rope travel and the theoretical wire rope travel shown in the wire rope theoretical displacement curve;

[0060] S3.3.3 Determine whether the theoretical difference of the wire rope is within the preset error range [-5cm, 5cm], and perform preliminary verification of the load lifting height; if it is within the error range, proceed to step S4, if not, proceed to step S6.

[0061] S4. Detect the vertical displacement of the load through the posture motion measurement sensor, transmit the vertical displacement data of the load to the display end, and generate a time-load displacement curve on the display end. Then, compare the load displacement curve with the theoretical load displacement curve.

[0062] S4.1 In this embodiment, the error range of the difference between the preset load displacement and the theoretical load displacement is [-5 cm, 5 cm].

[0063] S4.2 As Figure 4 As shown, the x-axis represents time t and the y-axis represents load displacement y2.

[0064] In the time-load displacement curve, one cycle is used as a unit. In this embodiment, one cycle is set to 10s. The load stroke of each cycle is calculated by calculating the rising displacement extreme value and the falling displacement extreme value of the load.

[0065] S4.3 Calculate the difference between the load stroke and the load theoretical displacement curve;

[0066] S4.4 determines whether the theoretical difference of the load is within the preset error range [-5cm, 5cm], and verifies the load lifting height again; if it is within the preset error range, proceed to step S5, otherwise proceed to step S6.

[0067] S5. Compare the wire rope displacement with the load displacement to determine whether the wire rope displacement and load displacement are within the error range, such as Figure 5 As shown, the x-axis represents time t, and the y-axis represents the wire rope displacement y1 or the load displacement y2, wherein the solid curve represents the wire rope displacement y1, and the dotted curve represents the load displacement y2, and the solid curve and the dotted curve have the same starting point.

[0068] S5.1 In this embodiment, the error range of the difference between the wire rope displacement and the load displacement is preset to [-2 cm, 2 cm].

[0069] S5.2 In this embodiment, one cycle is set to 10s. Taking one cycle as a unit, the wire rope stroke and load stroke are calculated respectively by the difference between the peak values ​​of the curves within the same cycle.

[0070] S5.3 Calculate the difference between the rope travel and the load travel.

[0071] S5.4 determines whether the difference is within the preset error range [-2cm, 2cm]. If so, it is determined that the lifting height of the load of this weight is within the error range. Otherwise, it proceeds to step S6.

[0072] S6. Change to a different load, repeat steps S3-S5, and record the different comparison data obtained with different loads. Then, by analyzing whether the different data with different loads are within the error range, verify that the lifting height of the load is within the error range.

Claims

1. A method for measuring lifting accuracy, used to verify the lifting height of a load lifted by a crane, wherein the crane comprises a boom, a winch, a wire rope, an AHC control system, and an attitude motion measurement sensor, characterized in that: The following steps are also included: S1. Wrap one end of the wire rope around the winch and connect the other end of the wire rope to the load. Then, connect the AHC control system and the attitude motion measurement sensor to the display terminal. S2. Theoretical wire rope displacement and load displacement at the preset load lifting height; S3. The AHC control system rotates the winch and simultaneously detects the displacement of the wire rope and the load. The detected wire rope displacement is compared with the theoretical wire rope displacement to preliminarily verify the load lifting height. S4. Use the posture motion measurement sensor to detect the vertical displacement of the load and compare the detected load displacement with the theoretical load displacement to verify the load lifting height again. S5. Compare the wire rope displacement and the load displacement to determine whether the wire rope displacement and the load displacement are within the error range; if so, proceed to step S6; S6. Change to a different load, repeat steps S3-S5, and record the different comparative data obtained for different loads. Then analyze the data and verify the lifting height of the load.

2. A method for measuring lifting accuracy according to claim 1, characterized in that: The AHC control system also includes a CDP system and an encoder; the step S3 also includes the following steps: S3.1 Start the AHC control system, so that the CDP system controls the winch rotation to retract and release the rope, and preset the error range between the wire rope displacement and the theoretical wire rope displacement to [-5cm, 5cm]; S3.2 The encoder installed on the winch detects the displacement of the wire rope and transmits the wire rope displacement data to the AHC control system for storage. At the same time, it outputs the time-wire rope displacement curve in the CDP system and finally displays it on the display terminal; S3.3 After the AHC control system runs smoothly, compare the wire rope displacement curve with the theoretical wire rope displacement curve to preliminarily verify the load lifting height.

3. The method for measuring lifting accuracy according to claim 1, wherein: The step S4 further includes: The load displacement data in the vertical direction is transmitted to the display end, and a time-load displacement curve is generated at the display end. The load displacement curve is then compared with the load theoretical displacement curve.

4. The method for measuring lifting accuracy according to claim 2, wherein: The step S3.3 further includes: S3.3.1 In the time-wire rope displacement curve, take one cycle as a unit and calculate the wire rope travel in each cycle by the maximum rising and falling displacements of the wire rope; S3.3.2 Calculate the difference between the wire rope travel and the theoretical travel shown in the wire rope theoretical displacement curve; S3.3.3 Determine whether the difference is within the preset error range [-5 cm, 5 cm].

5. The method for measuring lifting accuracy according to claim 3, wherein: The step S4 further includes: S4.1 Error range of the difference between the preset load displacement and the theoretical load displacement; S4.2 In the time-load displacement curve, take one cycle as a unit and calculate the load travel of each cycle by the load's rising displacement extreme value and falling displacement extreme value; S4.3 Calculate the difference between the load stroke and the theoretical stroke in the load theoretical displacement curve; S4.4 determines whether the difference is within a preset error range.

6. The method for measuring lifting accuracy according to claim 1, wherein: The step S5 further includes: S5.1 Preset the error range of the difference between the wire rope displacement and the load displacement; S5.2 Take one cycle as the unit and calculate the wire rope travel and load travel separately within the same cycle; S5.3 Calculate the difference between the rope travel and the load travel; S5.4 determines whether the difference is within a preset error range.

7. The method for measuring lifting accuracy according to claim 1, wherein: The step S6 further includes: By analyzing whether different data of different loads are within the error range, it is verified that the lifting height of the load is within the error range.

8. The method for measuring lifting accuracy according to claim 1, wherein: The AHC control system is arranged on the rotary platform, the winch is arranged on the boom, one end of the wire rope is wound around and connected to the winch, and the other end of the wire rope is passed around the pulley frame on the boom to connect to the weight block, and a posture motion measurement sensor is provided above the weight block, and the posture motion measurement sensor and the AHC control system are respectively connected to the display end.

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