CN202729604U - Control device for six-degrees-of-freedom hoisting-lifting cooperation flexible cable parallel kinematic machine - Google Patents
Control device for six-degrees-of-freedom hoisting-lifting cooperation flexible cable parallel kinematic machine Download PDFInfo
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- CN202729604U CN202729604U CN 201220284637 CN201220284637U CN202729604U CN 202729604 U CN202729604 U CN 202729604U CN 201220284637 CN201220284637 CN 201220284637 CN 201220284637 U CN201220284637 U CN 201220284637U CN 202729604 U CN202729604 U CN 202729604U
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Abstract
The utility model discloses a control device for a six-degrees-of-freedom hoisting-lifting cooperation flexible cable parallel kinematic machine, belonging to the hoisting-lifting control device and method. The device comprises a hoisting-lifting cooperation flexible cable parallel kinematic machine, a master-control industrial control computer, a measuring industrial control computer, a communicator, a programmable logic controller, a sensor and hoisting equipment controllers, wherein the master-control industrial control computer is connected with the programmable logic controller by the communicator; the programmable logic controller is connected with each hosting equipment controller; each hoisting equipment is connected with a hoisting object by a lifting hook; the sensor is arranged on the hoisting object; the sensor is connected with the measuring industrial control computer; and the measuring industrial control computer is connected with the master-control industrial control computer. The control device has the advantages of being capable of controlling three groups of hoisting equipment controllers to achieve hoisting-lifting six-degrees-of-freedom high-precision motion; the system has rapid response, strong information processing capacity and good reliability; and besides, the tension of the flexible cable can be monitored, the obstacles during the motion of the hoisting object can be avoided, and impact can be prevented, so that the motion flexibility, stability and accuracy can be improved.
Description
Technical field
The utility model relates to a kind of hoisting and hanging control setup, especially a kind of six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment control device.
Background technology
Crane hoisting equipment is the important tool that factory, railway, harbour and other departments realize material carrying machine.Be subjected in recent years world economy rapid growth and world commerce ripple effect, be handled upside down the material device towards scale, heavily loaded large scale development, the lifting environment is increasingly abominable, complicated, also more and more higher to the requirement of hoisting and hanging technology and hanging device simultaneously.Yet owing to be subject to the restriction of the aspects such as the coordination ability and load-carrying capacity, the separate unit weight-lifting equipment can not satisfy current requirement fully.Many weight-lifting equipment cooperation lifting operations are to change the operation task of finishing material by the long coordination of each weight-lifting equipment control flexible cable rope, can remedy well the restriction of the separate unit weight-lifting equipment coordination ability and load-carrying capacity, therefore the similar parallel institution of equipment operation operating feature can be counted as a kind of spatial cooperation flexible cable parallel architecture equipment.
Space six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment has important using value, especially the lifting of the main equipment assembly in airport, road and bridge etc. are built field.But this cooperation flexible cable parallel architecture change system has large inertia, multiinput-multioutput, the characteristics such as non-linear, and be subjected to the impact of the external interference such as the parameter perturbation of system model and weight on the go RANDOM WIND, so that in the cooperating process, object of which movement alerting ability, stability and particularity are perfect not enough.
The utility model content
The purpose of this utility model provides a kind of six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment control device, solves in many hoisting and hanging machinery cooperating processes problem that object of which movement alerting ability, stability and particularity are perfect not enough.
The purpose of this utility model is achieved in that this six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment control device, comprise hoisting and hanging cooperation flexible cable parallel architecture equipment, the master control industrial computer, measure industrial computer, communicator, programmable logic controller (PLC), sensor and weight-lifting equipment controller, the master control industrial computer is connected with programmable logic controller (PLC) by communicator, programmable logic controller (PLC) is connected with each weight-lifting equipment controller, each weight-lifting equipment is connected with lifting object by suspension hook, sensor is installed on the lifting object, sensor is connected with the measurement industrial computer, measures industrial computer and is connected with the master control industrial computer by communicator.
Described weight-lifting equipment controller has three groups, each group structure is identical, comprise weight-lifting equipment control circuit, photoelectric encoder, grating displacement sensor, the mouth of programmable logic controller (PLC) is connected with the weight-lifting equipment control circuit, and the mouth of photoelectric encoder is connected with the input end of programmable logic controller (PLC); Described weight-lifting equipment control circuit comprises lift control circuit, revolution control circuit, luffing control circuit and extension and contraction control circuit.
Described sensor comprises photoelectric encoder, grating displacement sensor, Gravity accelerometer, force transducer, LOAD CELLS and proximity transducer; Photoelectric encoder has a plurality of, is installed in respectively on the motor of hoisting circuit, rotary loop of each weight-lifting equipment; Grating displacement sensor has a plurality of, is installed in respectively on the oil cylinder in luffing loop and flexible loop; At lifting object 3 grating displacement sensors and 1 three axle Gravity accelerometer are installed, LOAD CELLS is installed on the lifting object, at lifting object proximity transducer is installed simultaneously, and an identical force transducer respectively is installed on three flexible cables.
Beneficial effect: owing to adopted such scheme, can implementation space six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment control device; Space six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment control device adopts distributed frame, by operational administrative level master control industrial computer, lifting object controlled stage programmable logic controller (PLC), and measurement industrial computer, weight-lifting equipment controller, the communicator of being responsible for measuring in real time and carrying out feedback signal consist of, and this master mode combines that the programmable logic controller (PLC) controls precision is high, antijamming capability is strong, good reliability and the open degree of industrial computer is high, information processing capability is adjusted advantages by force, in real time, commonality is good characteristics; Measuring the measuring system centered by the industrial computer, the mode that adopts data acquisition to combine with sensor is finished the overall process of test job to greatest extent, can realize the detection to signal, can carry out analyzing and processing to obtaining signal again; Can also determine the flexible rope tension of hoisting and hanging cooperation flexible cable parallel architecture equipment, the weight of lifting object by force transducer, LOAD CELLS and proximity transducer, and be used for keeping away barrier and preventing from impacting to realize flexible output movement of lifting object motion; Thereby can improve hoisting and hanging cooperation flexible cable parallel architecture equipment kinematic dexterity, stability and particularity, reach the purpose of this utility model.
Advantage: this space six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment control device can effectively be controlled the high-precision motion that three groups of weight-lifting equipment controllers are realized hoisting and hanging cooperation flexible cable parallel architecture equipment space six degree of freedom; Employing by the master control industrial computer, measure the distributed master mode that industrial computer, programmable logic controller (PLC) and communicator form, have that system response is quick, information processing capability by force, good reliability; Adopt force transducer, LOAD CELLS and proximity transducer can monitor the weight of flexible rope tension, contained lifting object in the system, and the keeping away barrier and prevent from impacting of lifting object motion, thereby kinematic dexterity, stability and the particularity of hoisting and hanging cooperation flexible cable parallel architecture equipment have greatly been improved.
Description of drawings
Fig. 1 is structural representation block diagram of the present utility model.
Fig. 2 is space of the present utility model six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment figure.
The specific embodiment
Below in conjunction with accompanying drawing embodiment of the present utility model is elaborated:
Six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment control device of the present utility model, comprise hoisting and hanging cooperation flexible cable parallel architecture equipment, the master control industrial computer, measure industrial computer, communicator, programmable logic controller (PLC), sensor and weight-lifting equipment controller, the master control industrial computer is connected with programmable logic controller (PLC) by communicator, programmable logic controller (PLC) is connected with each weight-lifting equipment controller, each weight-lifting equipment is connected with lifting object by suspension hook, sensor is installed on the lifting object, sensor is connected with the measurement industrial computer, measures industrial computer and is connected with the master control industrial computer by communicator.
Described weight-lifting equipment controller has three groups, each group structure is identical, comprise weight-lifting equipment control circuit, photoelectric encoder, grating displacement sensor, the mouth of programmable logic controller (PLC) is connected with the weight-lifting equipment control circuit, and photoelectric encoder is connected mouth and is connected with the input end of programmable logic controller (PLC) with grating displacement sensor; Described weight-lifting equipment control circuit comprises lift control circuit, revolution control circuit, luffing control circuit and extension and contraction control circuit.
Described sensor comprises photoelectric encoder, grating displacement sensor, Gravity accelerometer, force transducer, LOAD CELLS and proximity transducer; Photoelectric encoder has a plurality of, is installed in respectively on the motor of hoisting circuit, rotary loop of each weight-lifting equipment; Grating displacement sensor has a plurality of, is installed in respectively on the oil cylinder in luffing loop and flexible loop; At lifting object 3 grating displacement sensors and 1 three axle Gravity accelerometer are installed, LOAD CELLS is installed on the lifting object, at lifting object proximity transducer is installed simultaneously, and an identical force transducer respectively is installed on three flexible cables.
Claims (3)
1. six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment control device: it is characterized in that: this six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment control device, comprise hoisting and hanging cooperation flexible cable parallel architecture equipment, the master control industrial computer, measure industrial computer, communicator, programmable logic controller (PLC), sensor and weight-lifting equipment controller, the master control industrial computer is connected with programmable logic controller (PLC) by communicator, programmable logic controller (PLC) is connected with each weight-lifting equipment controller, each weight-lifting equipment is connected with lifting object by suspension hook, sensor is installed on the lifting object, sensor is connected with the measurement industrial computer, measures industrial computer and is connected with the master control industrial computer by communicator.
2. six degree of freedom hoisting and hanging according to claim 1 cooperation flexible cable parallel architecture equipment control device, it is characterized in that: described weight-lifting equipment controller has three groups, each group structure is identical, comprise weight-lifting equipment control circuit, photoelectric encoder, grating displacement sensor, the mouth of programmable logic controller (PLC) is connected with the weight-lifting equipment control circuit, and photoelectric encoder is connected mouth and is connected with the input end of programmable logic controller (PLC) with grating displacement sensor; Described weight-lifting equipment control circuit comprises lift control circuit, revolution control circuit, luffing control circuit and extension and contraction control circuit.
3. six degree of freedom hoisting and hanging according to claim 1 cooperation flexible cable parallel architecture equipment control device, it is characterized in that: described sensor comprises photoelectric encoder, grating displacement sensor, Gravity accelerometer, force transducer, LOAD CELLS and proximity transducer; Photoelectric encoder has a plurality of, is installed in respectively on the motor of hoisting circuit, rotary loop of each weight-lifting equipment; Grating displacement sensor has a plurality of, is installed in respectively on the oil cylinder in luffing loop and flexible loop; At lifting object 3 grating displacement sensors and 1 three axle Gravity accelerometer are installed, LOAD CELLS is installed on the lifting object, at lifting object proximity transducer is installed simultaneously, and an identical force transducer respectively is installed on three flexible cables.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220284637 CN202729604U (en) | 2012-06-18 | 2012-06-18 | Control device for six-degrees-of-freedom hoisting-lifting cooperation flexible cable parallel kinematic machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220284637 CN202729604U (en) | 2012-06-18 | 2012-06-18 | Control device for six-degrees-of-freedom hoisting-lifting cooperation flexible cable parallel kinematic machine |
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| Publication Number | Publication Date |
|---|---|
| CN202729604U true CN202729604U (en) | 2013-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220284637 Expired - Fee Related CN202729604U (en) | 2012-06-18 | 2012-06-18 | Control device for six-degrees-of-freedom hoisting-lifting cooperation flexible cable parallel kinematic machine |
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| Country | Link |
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| CN (1) | CN202729604U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102701076A (en) * | 2012-06-18 | 2012-10-03 | 中国矿业大学 | Control device and control method for six-degree-of-freedom lifting cooperative parallel-flexible-cable equipment |
| CN103523684A (en) * | 2013-10-28 | 2014-01-22 | 中国矿业大学 | Hoisting coupling device with cooperation of multiple cranes and detection method |
-
2012
- 2012-06-18 CN CN 201220284637 patent/CN202729604U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102701076A (en) * | 2012-06-18 | 2012-10-03 | 中国矿业大学 | Control device and control method for six-degree-of-freedom lifting cooperative parallel-flexible-cable equipment |
| CN102701076B (en) * | 2012-06-18 | 2014-05-14 | 中国矿业大学 | Control device and control method for six-degree-of-freedom lifting cooperative parallel-flexible-cable equipment |
| CN103523684A (en) * | 2013-10-28 | 2014-01-22 | 中国矿业大学 | Hoisting coupling device with cooperation of multiple cranes and detection method |
| CN103523684B (en) * | 2013-10-28 | 2015-04-15 | 中国矿业大学 | Hoisting coupling device with cooperation of multiple cranes and detection method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130213 Termination date: 20140618 |
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| EXPY | Termination of patent right or utility model |