Graduation Design (Thesis) of Wuhan University of Technology

Design of Anti - skew System in the Operation of Car Crane

College: Institute of International Education

Specialty amp; Class: Automobile Engineering 1304

Student name: Song Xu

Tutor: Professor Wang

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Abstract

With the development of technology and industry, heavy equipment transport and assembly applications are more extensive. In the construction, vehicles and bridges and other industries it will often encounter heavy cargo transport and installation. In the hoisting operation, the crane has ten principles of non-hanging, which will be banned when slanting goods. However, because of the uncertainty of manual operation, the driver can not accurately observe the location of goods in real. Often there will be a cable-stayed cargo situation, which in the actual situation is very dangerous.

This paper mainly discusses the problem of the skew in the process of crane transportation and analyzes the problem and puts forward the solution. Use the monocular camera to measure the goods' cable angle and offset distance when the cable-stayed conditions appear. The crane is optimized by computer-controlled, smoothly and safely complete the system to prevent the cable-stayed condition. Finally, the system is simulated by ADAMS to verify its feasibility. Complete the system as described above.

Key Words: crane, anti - skew control system, simulation

Contents

Abstract I

Chapter 1 Introduction 1

1,1 The Origin and Significance of Crane Cable - stayed 1

1.2 The Anti–skew Technology of Crane and Its Research Status 2

1.3 Building of anti-skew system 4

1.4 The main research content of the paper 5

Chapter 2 Mechanics Analysis of Crane's Cable-Stayed Condition 6

2.1 Mechanics Analysis of Crane Rope 6

2.2 Mechanics Analysis and Influence of Integral Cable-stayed Condition of Crane 7

Chapter 3 Collection and Handling of Cable-Stayed Data 10

3.1 Method of collecting cable - stayed data 10

3.2 Processing of cable - stayed data 12

3.3 Summary 13

Chapter 4 Rectification Path Plan for Anti-skew System 14

4.1 the Way to control the trolley 14

4.2 The relationship between the projection distance and the position of the trolley 14

4.3 Path selection and optimization 15

4.4 Summary 19

Chapter 5 ADAMS Modeling and Simulation Analysis 20

5.1 The Establishment of Anti - skew System Model 20

5.2 Simulation results analysis 23

5.3 Summary 27

Chapter 6 Conclusion 28

References 29

Acknowledgment 30

Chapter 1 Introduction

1,1 The Origin and Significance of Crane Cable-stayed

The crane originated in ancient Greece. In ancient times, people tied the goods to one end of a bar, and at the other end of the pole, using the lever to lift the cargo to complete the transport. This is the oldest crane. In modern society, with the popularity of steam engines and electricity, people have achieved to use the electricity to drive mechanical operation. The weight and lifting height has become increasingly large. The scope of application is also more and more widely, according to different applicable conditions, there has been already a variety of cranes at this stage such as tower cranes, gantry cranes, bridge cranes, truck cranes, mini cranes and so on.

The car crane is like to bridge crane (hereinafter referred to as crane), also known as overhead crane, consists of the elevated track, crane span structure and the trolley three main components. The track is fixed at high altitude, which can bear the cranespanstructureand the trolley and their work. The crane span structure is generally a rectangular frame, which is mounted on the track and can slide along the track. The trolley is above the crane span structure, which can slide along the crane span structure. And the hoisting device is fixed under the trolley, which is usually composed of electric hoist, roller and rope.

In today’s rapid development of social science and technology, the crane in the logistics and transport assembly plays a very important role. With the pace of construction speeding up, the requirement of the crane is also increasing .At present, the crane is developing in the direction of high precision, high efficiency, high safety and easy operation. Its trolley speed, lifting height, lifting speed, bearing level have been greatly improved. While because the crane is mostly used for large-scale equipment and cargo transport assembly, the hook accuracy by artificial control takes a lot of time, the production efficiency will be reduced accordingly. If we just control the hook accuracy simply, it will easy cause crooked skew.

Crane Cable - stayed, which means, in the daily transport assembly work, before the crane is running, the rope and the goods can not maintain the vertical state and then begin the lifting operations. When operating in this condition, it can cause very serious consequences. If the vertical pull up the goods did not overload, once cable-stayed, it will be likely to overload, which will make the crane load in the horizontal direction too large, resulting in damage to the crane. Tilting the goods may cause the rope guide broken, rope broken, and will damage the wire rope on the overload limiter. In addition, there are often some crane’s trolley and the track is not in place, so that a little loose between the trolley and the track, when the wheels on both sides have an uneven force, it will affect the wheel life. Seriously, when the difference between the wheel pressure is too large, it will even make the trolley leaving from the track. In the tower crane, the Crane Cable - stayed even lead to hanging tower collapse, which is one of the key reasons that cause the tower crane down. Even if the crane has good quality and has no damage, when the goods were leased off the ground, according to the different degree of cable lift, it will produce different amplitude of the swing, it is easy to bump the staffs nearby. Although the cable-stayed goods have such a major security risks and hazards, but most of the cranes at the factory are not equipped with anti-cable detection device. Even if there is installed to detect a cable-stayed device, in most cases can only rely on the crane driver’s driving experience to achieve the appropriate reduction of cable-stayed. However, due to the visual fatigue of long-term work, site environment such as dust interference and the driver's personal visual distance assessment of the impact of bias, cable-stayed conditions often appears. Therefore, in order to ensure the safety of the working environment, improve the production efficiency and product quality and reduce the crane driver’s work intensity, the research of the crane anti-snag system is realistic and far-reaching.

1.2 The Anti–skew Technology of Crane and Its Research Status

The cable lift problem has came out for a long time. In the early days, due to production conditions and scientific and technological constraints, the crane size and its bearing capacity are not achieved a big scale. Through the visual line of sight and command can avoid part of the occurrence of cable-stayed conditions. With the development of industry, the scale of the crane is also growing. With the speed of efficiency, estimating the distance by the driver has become extremely difficult and dangerous. Engineers at home and abroad have also been improved for the cable-stayed conditions.