The invention discloses an automatic operation method of a tower crane, which comprises the following steps of: additionally arranging an RTK (Real-Time Kinematic) mobile station at a mobile trolley, automatically detecting an inclination angle of a cargo during hoisting at a hooking point and an unhooking point in a manner of acquiring positioning data by using handheld RTK dotting, providing an inclination direction and an inclination amplitude, and if the inclination angle exceeds an inclination safety threshold value, stopping hoisting; the system automatically adjusts the direction and the amplitude of the lifting arm to adjust the lifting hook to be right above the goods and then lift the goods; whether goods shake or not is detected, and if the shake exceeds a shake safety threshold value, shake control is automatically carried out, so that various production safety accidents caused by insufficient data acquisition and acquisition mode problems in the prior art can be solved, the alignment operation of goods taking/unloading can be accurately and automatically controlled, and the production efficiency is improved. And shaking is automatically controlled in the transferring process, and unmanned automatic operation is achieved on the premise that operation safety and operation efficiency are guaranteed.

    本发明公开了一种塔吊自动化操作方法,在移动小车处增设RTK移动站,并对挂钩点、脱钩点利用手持式RTK打点采集定位数据的方式,自动检测起吊时货物倾斜角,并提供倾斜方位及幅度,如果倾斜角超过倾斜安全阈值,系统则自动调整吊臂方位及变幅将吊钩调整至货物的正上方再起吊;检测货物是否存在晃动,如果晃动超过了晃动安全阈值,则自动进行晃动控制可以解决现有技术中数据采集不足及采集方式的问题导致的各类生产安全事故,可精准和自动控制货物的取料/卸料的对位作业,并在转运过程中对晃动进行自动控制,在确保作业安全和作业效率的前提下实现无人自动化操作。


    Access

    Download


    Export, share and cite



    Title :

    Tower crane automatic operation method


    Additional title:

    一种塔吊自动化操作方法


    Contributors:
    ZHOU RENLIN (author) / YANG JUE (author)

    Publication date :

    2023-09-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



    Tower crane automatic operation guiding system

    SHEN JIANKUN | European Patent Office | 2021

    Free access

    AUTOMATIC OPERATION SYSTEM FOR TOWER CRANE

    MIWA AKIHIRO / SUZUKI SHINYA / NAKAMURA YOSHIKO et al. | European Patent Office | 2019

    Free access

    AUTOMATIC OPERATION CONTROL SYSTEM OF TOWER CRANE

    ICHIMURA HAJIME / MATSUOKA AKIHIKO / SUZUKI SHINYA et al. | European Patent Office | 2021

    Free access

    Tower crane hoisting method out of tower crane operation radius

    YANG ZHENGLI / YANG ZHENGHUA / HUANG YONG | European Patent Office | 2015

    Free access

    Automatic driving system of tower crane and tower crane

    LU WENLONG / WANG ZHEN / GUO YU et al. | European Patent Office | 2021

    Free access