CN100497152C - Deviation rectifying method of tyre type container gantry crane - Google Patents
Deviation rectifying method of tyre type container gantry crane Download PDFInfo
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- CN100497152C CN100497152C CNB2007100154315A CN200710015431A CN100497152C CN 100497152 C CN100497152 C CN 100497152C CN B2007100154315 A CNB2007100154315 A CN B2007100154315A CN 200710015431 A CN200710015431 A CN 200710015431A CN 100497152 C CN100497152 C CN 100497152C
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Abstract
The invention discloses a deviation correction method for a tire type container gantry crane, the deviation correction method is implemented by means of detection signals fed back by ultrasonic sensors arranged on the gantry crane, and comprises following steps of: a. the ultrasonic sensors comparing the distance between the tire type gantry crane and the position reference object with a given value then outputting detection signals; b. a controller receiving the detection signals outputted by the ultrasonic sensors, and performing logic operation according to the running direction of the tire type gantry crane to determine and output control signals; c. a motor control part receiving the control signals outputted by the controller, and controlling the operation of the motor according to the control signals. The invention can ensure satisfied deviation correction effect and preferable cost control.
Description
Technical field
The present invention relates to the rubbertyred container gantry crane field, relate in particular to the method for correcting error of rubbertyred container gantry crane.
Background technology
In the handling process of the freight container of harbour and harbour, rubbertyred container gantry crane is being played the part of extremely important role.Because the space under it is used to hold the freight container that heap is built, therefore, rubbertyred container gantry crane can only be along straight-line motion in work, otherwise bumps against freight container easily, cause economic loss, even the life security of entail dangers to rubbertyred container gantry crane operating personal.Particularly in some major port harbours, for improving the stockyard degree of utilization, the gap ratio in adjacent tank district is less, so the skew space that the rubbertyred container gantry crane that can leave the adjacent tank district for moves is very little, if its service direction is offset, be easy to generation equipment and collide or strike on the facility or freight container of rubbertyred container gantry crane both sides, thereby cause enormous economic loss, even jeopardize operating personal or other ground staff's life security.
For fear of the generation of the problems referred to above, the most frequently used method for correcting error is traditional appearance method at present.Promptly indicating line along spraying on the ground of the running route of rubbertyred container gantry crane, the operating personal on rubbertyred container gantry crane just can be corrected the sense of motion of hoisting crane at any time by observing described sign line like this.But the shortcoming of this way is: it is influenced seriously by weather conditions, and for example in rain, mist, snow weather, operating personal is difficult to observe the sign line with removing, thereby can't carry out direction rectification accurately.Given this, spray reflex-reflective material on the ground of the sort of running route at rubbertyred container gantry crane, or the method for correcting error of pre-buried reflecting body is difficult to descend in weather conditions such as abominable rain, mist, snow the deviation-correcting function of realization rubbertyred container gantry crane equally.
In order to address this problem, the intelligent method for correcting error that a kind of GPS of utilization global satellite positioning is realized had appearred again in recent years, promptly using differential global positioning system on rubbertyred container gantry crane rectifies a deviation, but this system will set up the base station of sufficient amount at port and pier, hardware device such as movement station and receiver, so just need to buy expensive equipment, and need there be around the stockyard high building mountain etc. to block the reception that could guarantee GPS, for avoiding signal to disturb, also need at locality application radio frequency, therefore, the cost of this practice is very high.
Therefore, demand occurring the lower and rectifying effect of a kind of cost method for correcting error of rubbertyred container gantry crane preferably urgently.
Summary of the invention
Technical matters to be solved by this invention is to provide that a kind of cost is lower, rectifying effect rubbertyred container gantry crane method for correcting error preferably, described method for correcting error relies on the ultrasonic transduter detection signals fed back that is arranged on the described hoisting crane to finish, and specifically may further comprise the steps:
A, described ultrasonic transduter are according to the relatively output detectable signal of the distance between rubbertyred container gantry crane and the position object of reference with setting value;
Wherein, described detectable signal comprise at least when the distance between hoisting crane and the position object of reference during less than normal range ability setting value the offset detection signal and the urgency of exporting during less than minimal security range ability setting value or greater than maximum safe operation distance setting value when the distance between hoisting crane and the position object of reference stop detectable signal;
B, controller receive the detectable signal of described ultrasonic transduter output, and calculate the rotating speed increase and decrease or the stop control signal of at least one drive wheel and export according to the sense of motion of described detectable signal and this rubbertyred container gantry crane;
C, motor controling part receive the control signal of described controller output, and control the operation of motor according to described control signal.
Further, variable frequency drives in the described motor controling part receives described control signal, and the rotating speed of corresponding motor is increased or reduce a preset value according to described control signal, perhaps limit the rotation direction of corresponding motor, perhaps stop the running of all motors.
Preferably, described ultrasonic transduter is arranged on the equalizing bar of rubbertyred container gantry crane one side, comprise: in being used to survey between this end and the described position object of reference distance and exporting first of the first offset detection signal and correct sensor and be used to survey between this end and the described position object of reference distance and export the first anxious first anxious stop sensor that stops detectable signal of the right equalizing bar of this side of hoisting crane outer end, and this equalizing bar outer end, side left side of hoisting crane be used to survey distance between this end and the described position object of reference and export the second rectification sensor of the second offset detection signal and be used to survey between this end and the described position object of reference apart from and export the second second anxious stop sensor that suddenly stops detectable signal.
Further again, described detectable signal is defined as respectively:
The first offset detection signal: the detectable signal of exporting when described rubbertyred container gantry crane first is corrected distance between sensor side and the position object of reference less than normal range ability setting value;
The second offset detection signal: the detectable signal of exporting when described rubbertyred container gantry crane second is corrected distance between sensor side and the position object of reference less than normal range ability setting value;
The first anxious detectable signal that stops: the detectable signal that the distance between described rubbertyred container gantry crane first anxious stop sensor end and the position object of reference is exported during less than minimal security range ability setting value or greater than maximum safe operation distance setting value;
The second anxious detectable signal that stops: the detectable signal that the distance between described rubbertyred container gantry crane second anxious stop sensor end and the position object of reference is exported during less than minimal security range ability setting value or greater than maximum safe operation distance setting value.
Further again, when described controller received the first offset detection signal, if the hoisting crane left lateral, then a side motor pick up speed of ultrasonic transduter was installed in control, as if the hoisting crane right lateral, then controls the motor pick up speed of a relative side; When described controller receives the second offset detection signal, as if the hoisting crane left lateral, then control the motor pick up speed of a described relative side, if the hoisting crane right lateral is then controlled this side motor pick up speed; When described controller receives first or second suddenly when stopping detectable signal, then control the operation that the both sides motor stops existing direction.
Further, between described step a and step b, also comprise the detectable signal that ultrasonic transduter is exported among step b0, the receiving step a, and after being converted into the electric signal that is complementary with described controller input end among the step b, be transferred to described controller.
Wherein, described step b0 finishes by the switch circuit of being made up of relay.
Preferably, described position object of reference is the ultrasonic reflections support, be positioned at described hoisting crane and install on the ground of a side of ultrasonic transduter, and described ultrasonic reflections support parallels with the normal service direction of big mechanism of car (i.e. the standard trajectory that normally moves) of hoisting crane.
Implement the present invention, can on the equipment of assurance has the basis of satisfied rectifying effect, control cost preferably.
Description of drawings
Fig. 1 is to use the structural representation of an embodiment of the rubbertyred container gantry crane of method for correcting error proposed by the invention;
Fig. 2 is the partial enlarged drawing of hoisting crane bottom among Fig. 1;
Fig. 3 is the local enlarged diagram of the relation of putting between hoisting crane and the position object of reference among Fig. 1;
Fig. 4 is based on the FB(flow block) of an embodiment of method for correcting error of hoisting crane shown in Figure 1.
The specific embodiment
Rubbertyred container gantry crane (Rubber Ty
rEd Gantry Crane is called for short RTG), be to be used for the specialized equipment that container pier storage yard carries out container handling, also can be used as the hoisting crane Transport Machinery of using in general stockyard, its outward appearance is referring to shown in Figure 1.Described hoisting crane is supported by eight rubber tires, adopts the power supply of diesel powerplant or bank electricity, after AC frequency conversion as the driving power of machine.
At first, be noted that to avoiding narrating loaded down with trivial detailsly, hoisting crane means rubbertyred container gantry crane among the present invention.Below, concise and to the point elaboration principle of the present invention: the present invention is by installing ultrasonic transduter on hoisting crane, utilize the distance between ultrasonic transduter detection hoisting crane and the position object of reference, and should distance compare with predeterminable range, thereby generation also sends different detectable signals to controller, controller is according to the detectable signal output control signal that receives, the output of control variable frequency drives, and then increase, reduce or stop the velocity of rotation of corresponding motor by variable frequency drives, to realize the purpose of hoisting crane automatic deviation correction.
With reference to figure 1, illustrate the scheme drawing of an embodiment of the rubbertyred container gantry crane that uses method for correcting error of the present invention.Because the complex structure of hoisting crane, and improvement of the present invention only is the correction aspect, therefore only its improvement that can realize the relevant portion of rectifying a deviation is set forth, and other parts do not elaborate.As shown in Figure 1, rubbertyred container gantry crane 1 comprises body frame body 11, is positioned at electric box 12, operator's compartment 10 and equalizing bar 13 on the body frame body 11, is positioned at drive wheel 14, the flower wheel 15 of equalizing bar 13 belows, is positioned at the motor 16 of drive wheel 14 tops.Wherein, the operator back to the viewer of Fig. 1, and the direction all around described in the present invention is a main body judges with this operator all in operator's compartment 10.In addition, described drive wheel 14 comprises two, and one of them is a shown position, and first is played in another left side in the face of side (being the front side) wheel that is arranged in the operator, promptly is diagonal positions with the diagram drive wheel.Described flower wheel 15 comprises remaining all wheels except that drive wheel 14, promptly remaining six wheels, owing to only show three flower wheels 15 in the view angle cause chart 1, first three wheel is played on the right side that other three flower wheels are positioned at the operator front side.In described electric box 12, comprise relay, controller and variable frequency drives etc.Described equalizing bar 13 is used to cooperate the sense of motion of drive wheel 14 that the certain moment of torsion of flower wheel 15 generations is made hoisting crane change of direction normally, but equalizing bar 13 invariant positions own with respect to hoisting crane.Described motor 16 is used to receive the instruction of described variable frequency drives the rotating speed of drive wheel 14 is adjusted.Like this, hoisting crane 1 under the drive of drive wheel 14 sway with the loading and unloading container goods.
With reference to figure 2, illustrate the bottom partial enlarged drawing of hoisting crane shown in Figure 1.Fig. 2 only amplifies explanation with regard to the part of electric box below 12.As shown in Figure 2, ultrasonic transduter comprises 4 in the present embodiment, all be fixed on the equalizing bar 13 of hoisting crane one side (being operator's the place ahead one side or rear one side), and in line parallel to the ground, be respectively first from left to right and correct sensor 21, first anxious stop sensor 22, the second anxious stop sensor 23, the second rectification sensor 24.Wherein, the described first rectification sensor 21 and the first anxious stop sensor 22 are arranged at the left end of left equalizing bar, and first corrects sensor 21 at high order end; The described second anxious stop sensor 23 and second is corrected the right-hand member that sensor 24 is arranged at right equalizing bar, and second corrects sensor 24 at low order end.
Wherein, first when correcting distance between sensor 21 and the position object of reference less than normal range ability setting value, and it exports the first offset detection signal, does not carry out any action for other situation; Distance between the first anxious stop sensor 22 and the position object of reference is during less than (or smaller or equal to) minimal security range ability setting value or greater than (or more than or equal to) maximum safe operation distance setting value, its output first suddenly stops detectable signal, does not carry out any action for other situation; Distance between the second anxious stop sensor 23 and the position object of reference is during less than (or smaller or equal to) minimal security range ability setting value or greater than (or more than or equal to) maximum safe operation distance setting value, its output second suddenly stops detectable signal, does not carry out any action for other situation; Second when correcting distance between sensor 24 and the position object of reference less than normal range ability setting value, and it exports the second offset detection signal, does not carry out any action for other situation.Wherein, in the present embodiment, described normal range ability setting value is 660mm, and described minimal security range ability setting value is 500mm, and described maximum safe operation distance setting value is 900mm.Described three distance setting values can be set by its DLL (dynamic link library) that provides when each ultrasonic transduter is initially installed.
With reference to figure 3, illustrate the local enlarged diagram of the position relation between hoisting crane shown in Figure 1 and the position object of reference.As shown in Figure 3, the position object of reference is the ultrasonic reflections plane 20 on the reflection support 19 that is arranged on operator's rear ground, the face relative with hoisting crane 1 that this ultrasonic reflections plane 20 can be mounted in ultrasonic reflections plate on the support 19.Wherein, the normal service direction keeping parallelism of described ultrasonic reflections plane 20 and hoisting crane 1 and with the straight line keeping parallelism at described four ultrasonic transduter places, and continue up in effective range of operation of hoisting crane 1 the reflection support 19 under promptly hoisting crane 1 is provided with in the ultimate range of loading and unloading container process institute sway.In a preferred embodiment of the invention, described support 19 sets up the ultrasonic reflections plate that has object of reference ultrasonic reflections plane, described position 20 for the orbit support of wiping power supply dolly on this support.And described ultrasonic reflections plane 20 is vertical with described four ultrasonic transduters, 21～24 ultrasonic emitting directions.Here said ultrasonic reflections plane 20 can be any plane that can reflection supersonic wave, and be not limited to its based on fertile material composition etc.
Need to prove that owing to the view angle, described four ultrasonic transduters all do not show among Fig. 3, still, those skilled in the art will envision that out described four positions of ultrasonic transduter in Fig. 3 according to the exposure of Fig. 1 and Fig. 2.
With reference to figure 4, illustrate workflow based on an embodiment of method for correcting error of hoisting crane shown in Figure 1.In the present embodiment, with described normal range ability setting value is 660mm, described minimal security range ability setting value is 500mm, described maximum safe operation distance setting value is that 900mm is that example is illustrated, and for sake of convenience the first rectification sensor, 21, first anxious stop sensor 22, the second anxious stop sensor 23, the second rectification sensor 24 is made as sensors A, B, C, D successively.As shown in the figure, present embodiment may further comprise the steps:
Suddenly stop detectable signal for output in the step 32 first, promptly represent that the hoisting crane end in operator left side very partially closely or far away deviates from the position object of reference this moment, if this moment, hoisting crane was a right lateral, then controller is exported the right lateral stop control signal, but allows left lateral; If this moment, hoisting crane was a left lateral, then controller is exported the left lateral stop control signal, but allows right lateral;
For the second anxious detectable signal that stops of output in the step 32, the hoisting crane end of promptly representing the operator right side this moment departs from far away or is bordering on the position object of reference very partially, if this moment, hoisting crane was a right lateral, then controller is exported the right lateral stop control signal, but permission left lateral, if this moment, hoisting crane was a left lateral, then controller is exported the left lateral stop control signal, but allows right lateral;
For the step 32 output second offset detection signal, represent promptly that the hoisting crane end on operator right side is bordering on the position object of reference partially this moment, if hoisting crane is left lateral (is main body judges with operator), then the control signal of the rotating speed of the drive wheel of the control signal of the rotating speed of the drive wheel of the controller output person of speeding operations front side or the operator's rear side that slows down is perhaps exported described two instructions simultaneously; If hoisting crane is right lateral (is main body judges with operator), then the control signal of the rotating speed of the drive wheel of the control signal of the rotating speed of the drive wheel of controller output slowing down operator front side or the person's of speeding operations rear side is perhaps exported described two instructions simultaneously;
For exporting the first anxious detectable signal, second anxious when stopping detectable signal that stops in the step 32 simultaneously, represent that promptly hoisting crane integral body is very near the position object of reference, perhaps hoisting crane integral body deviation position object of reference far away, perhaps hoisting crane one end far away the deviation position object of reference other end very near the position object of reference, controller output hoisting crane this moment control signal out of service, promptly this moment hoisting crane about row all be under an embargo, wait for artificial treatment;
In addition, described controller can be micro controller system or PLC controller etc., the acquisitions such as direction control stalk/key when the sense of motion signal of described hoisting crane is gone about operation from the operator by controller.
In another embodiment of the present invention, ultrasonic transduter has only one, and it is installed on outer end on a left side or the right equalizing bar one end of electric box 12 (promptly away from).Be preset with normal range ability setting value, minimal security range ability setting value and maximum safe operation distance setting value in this ultrasonic transduter, in order to understand present embodiment more intuitively, suppose that described normal range ability setting value is 660mm, described minimal security range ability setting value is 500mm, described maximum safe operation distance setting value is 900mm, but should therefore not limit the present invention.Wherein, during when described ultrasonic transduter detects distance between hoisting crane and the position object of reference smaller or equal to 500mm or more than or equal to 900mm, then export emergent stop signal; When described ultrasonic transduter detects distance between hoisting crane and the position object of reference smaller or equal to 660mm and greater than 500mm, output offset signal then.
Described emergent stop signal, shifted signal export in the analog to digital conversion circuit, through this analog to digital conversion circuit described emergent stop signal, shifted signal are converted to corresponding different digital signal.Controller receives described digital signal and calculates motor control signal according to the service direction of hoisting crane: when receiving the cooresponding digital signal of shifted signal, if the front end of the service direction of hoisting crane is a described ultrasonic transduter place end at this moment, then the slow down control signal of the rotating speed of side drive wheel on this service direction before the hoisting crane of the control signal of the rotating speed of side drive wheel on this service direction behind the hoisting crane or output is accelerated in output, perhaps exports described two control signals simultaneously; If the rear end of the service direction of hoisting crane is the place end of described ultrasonic transduter at this moment, then the control signal of the rotating speed of side drive wheel on this service direction before the hoisting crane is accelerated in the slow down control signal of the rotating speed of side drive wheel on this service direction behind the hoisting crane or output of output, perhaps exports described two control signals simultaneously;
When receiving the cooresponding digital signal of emergent stop signal, then output stops hoisting crane continuing operation on current service direction instruction, promptly stops current motion, and only allows reverse direction operation.
After the variable frequency drive unit of motor controling part receives the control signal that controller sends, the rotating speed of control corresponding motor.That is, if after receiving the rotating speed of a certain drive wheel that slows down, the rotational frequency of the cooresponding motor of its this drive wheel of cooresponding minimizing then; On the contrary, if after receiving the rotating speed of accelerating a certain drive wheel, the rotational frequency of the cooresponding motor of its this drive wheel of cooresponding increase then; If after receiving the movement instruction that stops a certain direction, then it will limit the existing rotation direction of all motors, but allow all motor reversing sense runnings.
In another embodiment of the present invention, described ultrasonic transduter comprises two, and the outer end on left and right equalizing bar is provided with a ultrasonic transduter respectively, and described two ultrasonic transduters are fixed in same being parallel on the ground-surface straight line.Wherein, in described two ultrasonic transduters three setting values are arranged all, promptly normal range ability setting value, minimal security range ability setting value and maximum safe operation distance setting value; Equally,, suppose that described three setting values are followed successively by 660mm, 500mm, 900mm, but the present invention is not limited in above-mentioned giving an example in order to understand present embodiment more intuitively.Wherein, the sensor of supposing left end (based on the operator) is a sensor one, and the sensor of right-hand member is a sensor two; When described sensor one detects distance between hoisting crane and the position object of reference greater than 500mm and less than 600mm, then the output offset detectable signal one, if during smaller or equal to 500mm or more than or equal to 900mm, and the anxious detectable signal one that stops of output then, if other situations are not then carried out any action; When described sensor two detects distance between hoisting crane and the position object of reference greater than 500mm and less than 600mm, then the output offset detectable signal two, if during smaller or equal to 500mm or more than or equal to 900mm, and the anxious detectable signal two that stops of output then, if other situations are not then carried out any action;
Described offset detection signal one, anxious stop detectable signal one, offset detection signal two, suddenly stop detectable signal two and export in the analog to digital conversion circuit, described four kinds of detectable signals are converted to cooresponding digital signal respectively after, export in the controller.Controller receives described digital signal and calculates and the control signal of output motor according to the sense of motion of hoisting crane.Wherein, when controller receives offset detection signal one pairing digital signal, the inclined to one side near position object of reference of place end of the sensor one of hoisting crane then is described, if this moment, the hoisting crane service direction was left lateral (based on the operator), then the control signal of the rotating speed of side drive wheel before the rotating speed of the controller output person of speeding operations back side drive wheel or the operator that slows down is perhaps exported described two control signals simultaneously; If this moment, the hoisting crane service direction was right lateral (based on the operator), then the control signal of the rotating speed of side drive wheel behind the rotating speed of the preceding side drive wheel of the controller output person of speeding operations or the operator that slows down is perhaps exported described two control signals simultaneously;
When controller receives anxious when stopping detectable signal one cooresponding digital signal, then illustrate hoisting crane sensor one the place end very near or deviation position object of reference far away, if this moment, hoisting crane was a left lateral, then output stops the control signal of left lateral, but permission right lateral, if this moment, hoisting crane was a right lateral, then output stops the control signal of right lateral, but allows left lateral;
When controller receives offset detection signal two pairing digital signals, the inclined to one side near position object of reference of place end of the sensor two of hoisting crane then is described, if this moment, the hoisting crane service direction was left lateral (based on the operator), then the controller output control signal of rotating speed of the rotating speed of side drive wheel behind the operator or the preceding side drive wheel of the person of speeding operations that slows down is perhaps exported described two control signals simultaneously; If this moment, the hoisting crane service direction was right lateral (based on the operator), then the controller output control signal of the rotating speed of side drive wheel after the rotating speed of side drive wheel before the operator or the person of speeding operations that slows down is perhaps exported described two control signals simultaneously;
When controller receives anxious when stopping detectable signal two cooresponding digital signals, then illustrate hoisting crane sensor two the place end very near or deviation position object of reference far away, if this moment, hoisting crane was a left lateral, then output stops the control signal of left lateral, but permission right lateral, if this moment, hoisting crane was a right lateral, then output stops the control signal of right lateral, but allows left lateral;
After the variable frequency drive unit of motor controling part receives the control signal that controller sends, the rotating speed of control corresponding motor.That is, if after receiving the rotating speed of a certain drive wheel that slows down, the rotational frequency of the cooresponding motor of its this drive wheel of cooresponding minimizing then; On the contrary, if after receiving the rotating speed of accelerating a certain drive wheel, the rotational frequency of the cooresponding motor of its this drive wheel of cooresponding increase then; If after receiving the movement instruction that stops a certain direction, then it will limit the existing rotation direction of all motors, promptly only allow all motor reversing sense runnings.
For above-mentioned two embodiment, because it has much common parts with the described embodiment of Fig. 4, be not described in detail for this part, can be described with reference to preamble.
This specific embodiment has just been enumerated the situation that group of ultrasonic sensors is combined into a sensor, two sensors and four sensors, for other sensor numbers is not situation cited in this specific embodiment, since those skilled in the art fully can be by this specific embodiment the method for correcting error that obtains other situations of description analogy, so for fear of repeating elaboration, here with its omission.
In addition, the installation site of ultrasonic transduter described in the present invention is not limited to equalizing bar cited in the specific embodiment, when it can be installed in the normal operation of hoisting crane 1 any with respect to the position object of reference apart from the unmodified position, it is first-class for example also can be installed in four pillars of body frame body 11 by above-mentioned qualification.Also have; this specific embodiment has only been enumerated the same side (being operator's front side or rear side) that described ultrasonic transduter is installed on hoisting crane 1; but utilize method of the present invention; described group of ultrasonic sensors is closed the both sides that also can be installed on hoisting crane 1 respectively; and under principle of the present invention, carrying out corresponding setting, this is also within protection scope of the present invention.
Above disclosed is a kind of preferred embodiment of the present invention only, can not limit the present invention's interest field certainly with this, and therefore the equivalent variations of doing according to claim of the present invention still belongs to the scope that the present invention is contained.
Claims (8)
1, a kind of method for correcting error of rubbertyred container gantry crane is characterized in that, described method for correcting error relies on the ultrasonic transduter detection signals fed back that is arranged on the described hoisting crane to finish, and specifically may further comprise the steps:
A, described ultrasonic transduter are according to the relatively output detectable signal of the distance between rubbertyred container gantry crane and the position object of reference with setting value;
Wherein, described detectable signal comprise at least when the distance between hoisting crane and the position object of reference during less than normal range ability setting value the offset detection signal and the urgency of exporting during less than minimal security range ability setting value or greater than maximum safe operation distance setting value when the distance between hoisting crane and the position object of reference stop detectable signal;
B, controller receive the detectable signal of described ultrasonic transduter output, and calculate the rotating speed increase and decrease or the stop control signal of at least one drive wheel and export according to the sense of motion of described detectable signal and this rubbertyred container gantry crane;
C, motor controling part receive the control signal of described controller output, and control the operation of motor according to described control signal.
2, method for correcting error according to claim 1, it is characterized in that, variable frequency drives in the motor controling part receives the control signal that described controller sends, and the rotating speed of corresponding motor is increased or reduces a preset value according to described control signal, perhaps limit the rotation direction of corresponding motor, perhaps stop the running of all motors.
3, method for correcting error according to claim 1 and 2, it is characterized in that, described ultrasonic transduter is arranged on the equalizing bar of rubbertyred container gantry crane one side, comprise: in being used to survey between this end and the described position object of reference distance and exporting first of the first offset detection signal and correct sensor and be used to survey between this end and the described position object of reference distance and export the first anxious first anxious stop sensor that stops detectable signal of the right equalizing bar of this side of hoisting crane outer end, and this equalizing bar outer end, side left side of hoisting crane be used to survey distance between this end and the described position object of reference and export the second rectification sensor of the second offset detection signal and be used to survey between this end and the described position object of reference apart from and export the second second anxious stop sensor that suddenly stops detectable signal.
4, method for correcting error according to claim 3 is characterized in that, described detectable signal is defined as respectively:
The first offset detection signal: the detectable signal of exporting when described rubbertyred container gantry crane first is corrected distance between sensor side and the position object of reference less than normal range ability setting value;
The second offset detection signal: the detectable signal of exporting when described rubbertyred container gantry crane second is corrected distance between sensor side and the position object of reference less than normal range ability setting value;
The first anxious detectable signal that stops: the detectable signal that the distance between described rubbertyred container gantry crane first anxious stop sensor end and the position object of reference is exported during less than minimal security range ability setting value or greater than maximum safe operation distance setting value;
The second anxious detectable signal that stops: the detectable signal that the distance between described rubbertyred container gantry crane second anxious stop sensor end and the position object of reference is exported during less than minimal security range ability setting value or greater than maximum safe operation distance setting value.
5, method for correcting error according to claim 4 is characterized in that, when described controller receives the first offset detection signal, if hoisting crane left lateral, then a side motor pick up speed of ultrasonic transduter is installed in control, as if the hoisting crane right lateral, then controls the motor pick up speed of a relative side; When described controller receives the second offset detection signal, as if the hoisting crane left lateral, then control the motor pick up speed of a described relative side, if the hoisting crane right lateral is then controlled this side motor pick up speed; When described controller receives first or second suddenly when stopping detectable signal, then control the operation that the both sides motor stops existing direction.
6, method for correcting error according to claim 1 and 2 is characterized in that, also comprises step b0 between described step a and step b:
B0, the detectable signal that ultrasonic transduter is exported among the receiving step a, and after being converted into the electric signal that is complementary with described controller input end among the step b, be transferred to described controller.
7, method for correcting error according to claim 6 is characterized in that, described step b0 finishes by the switch circuit of being made up of relay.
8, method for correcting error according to claim 1 and 2, it is characterized in that, described position object of reference is the ultrasonic reflections support, be positioned at described hoisting crane and install on the ground of a side of ultrasonic transduter, and described ultrasonic reflections support parallels with the normal service direction of big mechanism of car of hoisting crane.
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| CN102491175A (en) * | 2011-11-22 | 2012-06-13 | 中船第九设计研究院工程有限公司 | Error correcting method for large-scale gantry crane walking |
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