CN101161584B - Method and system for buttjuncting and controlling double 40 ruler shore bridge upper shelf - Google Patents
Method and system for buttjuncting and controlling double 40 ruler shore bridge upper shelf Download PDFInfo
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- CN101161584B CN101161584B CN2006101170950A CN200610117095A CN101161584B CN 101161584 B CN101161584 B CN 101161584B CN 2006101170950 A CN2006101170950 A CN 2006101170950A CN 200610117095 A CN200610117095 A CN 200610117095A CN 101161584 B CN101161584 B CN 101161584B
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Abstract
The invention discloses a controlling method and a system for double 40 size bank bridge upper rack butt jointing come away. A contact joint large oil tank, a vertical oil tank and a large vehicle directional oil tank on the upper rack of sea side are provided with pulling wire encoders. A detecting limit is arranged on the vertical oil tank. A close limit is arranged on a contact joint plate of the upper rack of land side. The pulling wire encoders, the detecting limit and the close limit are connected to a control unit. The control unit is configured to control the holing claw concerted action of each of the oil tanks and the contact joint plates. The automatic contact joint and the self-disengaging flow are completed. The contact joint and the disengaging flow are completed by manual mode according to the operation order of the operation device. The method and system of the invention ensure that the contact joint and disengaging operation of the double 40 size bank bridge upper rack are more stable, thereby improving the safety.
Description
Technical field
The present invention relates to a kind of butt joint of putting on the shelf (and disengagement) control method and system of bank bridge of capable of hoisting dual 40 feet casees.
Background technology
Shore container crane (abbreviation bridge crane) is to carry out container operation at the harbour, is about to freight container and unships harbour, perhaps freight container is installed to harbour machinery on the ship from harbour.The standard specification of freight container generally is divided into 20 feet, 40 feet, 45 feet etc., traditional bridge crane one 40 forty equivalent unit 40 of once can only slinging, and handling efficiency is lower.
The Chinese patent publication number is that the application for a patent for invention of CN1579916A discloses a kind of container crane capable of lifting dual 40 feet box by applicant's application, comprise that two overlap independently suspender main hoisting mechanism and steel cable winding system, and two suspenders are together with driving oil cylinder, on putting on the shelf, suspender disposes pulley, configuration two cover lifting pulley groups on dolly.The first suspender main hoisting mechanism and the second suspender main hoisting mechanism are equipped with reel, suspender lifting mechanism motor, drg and the suspender retarder that hoists respectively, two cover suspender main hoisting mechanism synchronized operations, first suspender 11 is realized drawing in and separating by being connected oil cylinder 15 with second suspender 12, as shown in Figure 1.
Two 40 feet abbreviation bridge cranes are the once huge innovations of portal crane industry, by two cover lifting mechanisms, the ingenious combination of front and back two suspenders, can sling simultaneously 4 20 twenty feet equivalent unit 20s, 2 40 twenty feet equivalent unit 20s or 2 20 twenty feet equivalent unit 20s and 1 40 multiple combination such as twenty feet equivalent unit 20 have reached lifting expeditiously and have unloaded the work of hanging.Yet two 40 feet bridge cranes also have many operating processes as a later-model hoisting crane, and operations such as for example suspender butt joint, disengagement also need further debugging and perfect.
Summary of the invention
Technical matters to be solved by this invention provides a kind of two 40 chi bank bridges put on the shelf butt joint control method and system.
The present invention solves the problems of the technologies described above the technical scheme that adopts to provide the butt joint of putting on the shelf of a kind of two 40 chi bank bridges and throw off control method, be provided with on described bank bridge that the extra large side that hangs extra large side suspender is put on the shelf and the land side that hangs land side suspender is put on the shelf, wherein extra large side is put on the shelf and is provided with two butt joint large tanks, regulate two cart direction oil cylinders of two butt joint large tank level attitudes, and the two vertical oil cylinders of regulating two butt joint large tank upright positions, the land side is put on the shelf to be provided with for two butt joint large tanks and is docked two butt plates of usefulness, the hydraulic pressure gripper jaw respectively is housed on the butt plate, is characterized in that described control method comprises the butt joint control flow and throws off control flow;
The butt joint control flow may further comprise the steps:
1) response one butt joint instruction and detect the lifting altitude value of extra large side suspender and land side suspender when the two highly differs less than height down in limited time, enters the automatic butt pattern;
2) in the automatic butt pattern, a) detect the position of two butt joint large tanks and two cart direction oil cylinders, and control two cart direction oil cylinders and move to and the extra large side vertical position of putting on the shelf, control two butt joint large tanks are flexible to identical length; B) two vertical oil cylinders of control rise, and two butt joint large tanks are held up level attitude, open land side two the top gripper jaws of putting on the shelf simultaneously; C) two butt joints of control large tank stretches out simultaneously, and the gripper jaw direction of past land side moves; D) after two butt joint large tanks were close to the butt plate of land side above putting on the shelf, the control gripper jaw was firmly grasped cooresponding butt joint large tank; E) two vertical oil cylinders of control descend, and return to the bottom position that extra large side is put on the shelf;
Throwing off control flow may further comprise the steps:
1) response one is thrown off instruction and is detected the lifting altitude of extra large side suspender and land side suspender, when the two diff-H less than height down in limited time, enter automatic disengaged mode;
2) in automatic disengaged mode, a) detect the position of two butt joint large tanks and two cart direction oil cylinders, and control two cart direction oil cylinders and move to and the extra large side vertical position of putting on the shelf, control two butt joint large tanks are flexible to identical length; B) two butt joints of control large tank is retracted to the position that two suspenders are set simultaneously; C) two vertical oil cylinders of control rise, and two butt joint large tanks are held up level attitude, discharge land side two the top gripper jaws of putting on the shelf simultaneously, make the disengagement of putting on the shelf of two butt joint large tanks and land side; D) control two butt joint large tanks are withdrawn into the end, control two vertical oil cylinders afterwards and return to the bottom position that extra large side is put on the shelf, and guarantee that by detection two vertical oil cylinders are in this bottom position.
In the step 1) of butt joint control flow, when the diff-H that detects two suspenders is between a height lower limit and a height upper limit, enter at the manual joint mode of step 3), manually joint mode comprises:
A) control two vertical oil cylinders remain on the extra large side also state of detection of vertical oil cylinder of bottom of putting on the shelf; B) the response external operation is docked the sidesway of large tank with control and is stretched; C) response one butt joint instruction and open land side two the top gripper jaws of putting on the shelf, d) the response external operation is stretched out simultaneously to control two butt joint large tanks, moves toward the gripper jaw direction of land side; E) after two butt joint large tanks were close to the butt plate of land side above putting on the shelf, the control gripper jaw was firmly grasped cooresponding butt joint large tank; F) guarantee that by detection two vertical oil cylinders are in the bottom position that extra large side is put on the shelf.
In described automatic butt pattern,, enter manual joint mode if detect outside M/C signal.
In the step 1) of butt joint control flow, when the diff-H that detects two suspenders greater than a height in limited time, do not carry out docking operation, in order to avoid damage equipment.
In the step 1) of throwing off control flow, when the diff-H that detects two suspenders is between a height lower limit and a height upper limit, enter 3) manual disengaged mode, manually disengaged mode comprises:
A) the response external operation is closed up the position of setting to two suspenders to control the indentation simultaneously of two butt joint large tanks; B) two vertical oil cylinders of control rise, and two butt joint large tanks are held up level attitude; C) response one is thrown off instruction and is discharged two gripper jaws of land side on putting on the shelf, makes the disengagement of putting on the shelf of two butt joint large tanks and land side; D) control two butt joint large tanks are withdrawn into the end, control two vertical oil cylinders afterwards and return to bottom position, and guarantee that by detection two vertical oil cylinders are in this bottom position.
Throw off in the step 1) of control flow, when the diff-H that detects two suspenders greater than a height in limited time, do not carry out and throw off operation, in order to avoid damage equipment.
The present invention also provides the butt joint of putting on the shelf of a pair of 40 chi bank bridges to throw off control system, docks and throws off operation in order to control bank bridge, and described control system comprises:
Control unit is configured to and carries out the butt joint control flow and throw off control flow;
Be used to detect first detection part of the telescopic location of butt joint large tank, be located at respectively on two butt joint large tanks and and be electrically connected with control unit;
Be used to detect second detection part of the level attitude of cart direction oil cylinder, be located at respectively on the two cart direction oil cylinders and and be electrically connected with control unit;
The first oil cylinder electromagnetic valve is located on the two butt joint large tanks respectively and is electrically connected with control unit, and the Be Controlled unit controls is to regulate stretching of butt joint large tank;
The second oil cylinder electromagnetic valve is located at respectively on the two cart direction oil cylinders and with control unit and is electrically connected, and the Be Controlled unit controls is to regulate the flexible of cart direction oil cylinder;
The 3rd oil cylinder electromagnetic valve is located at respectively on the vertical oil cylinder and with control unit and is electrically connected, and the Be Controlled unit controls is to regulate the flexible of vertical oil cylinder;
It is spacing to be used for detection of vertical oil cylinder status detection, is located at put on the shelf bottom and be electrically connected with control unit of extra large side;
Gripper jaw electromagnetic valve, Be Controlled unit controls make gripper jaw open and firmly grasp;
Near spacing, be located at respectively on two butt plates and and be electrically connected with control unit, when docking with two butt plates, two butt joint large tanks respond to activation, feed back to control unit;
Read out instrument is electrically connected to control unit, shows the suspender state parameter in butt joint and the process;
Handling device is electrically connected to control unit, is operated so that control unit is sent operating order.
Described control unit can be made of programmable logic controller (PLC).
Described first detection part and second detection part are made of the backguy coder.
Butt joint and disengagement operation that method and system of the present invention is put two 40 chi bank bridges on the shelf are more freely stable, and the reliability and the safety of operating process are provided.
Description of drawings
Further specify the features and advantages of the present invention below in conjunction with the drawings and specific embodiments, wherein:
Fig. 1 is that the Chinese patent publication number is the hanger structure figure of bank bridge of capable of hoisting dual 40 feet casees of CN1579916A;
Fig. 2 is the extra large side of two 40 chi bank bridges among the present invention device distribution figure that puts on the shelf;
Fig. 3 is that the extra large side of two 40 chi bank bridges among the present invention is put on the shelf and the land side birds-eye view of putting on the shelf;
Fig. 4 is the structured flowchart of the butt joint electric-control system of the two 40 chi bank bridges of the present invention;
Fig. 5 is the automatic butt model process figure of two 40 forty equivalent unit 40 hoisting cranes;
Fig. 6 is the manual joint mode diagram of circuit of two 40 forty equivalent unit 40 hoisting cranes;
Fig. 7 is the automatic disengaged mode diagram of circuit of two 40 forty equivalent unit 40 hoisting cranes;
Fig. 8 is the manual disengaged mode diagram of circuit of two 40 forty equivalent unit 40 hoisting cranes.
The specific embodiment
Fig. 2 is the extra large side of two 40 chi bank bridges among the present invention device distribution figure that puts on the shelf, and Fig. 3 is that the extra large side of two 40 chi bank bridges among the present invention is put on the shelf and the land side birds-eye view of putting on the shelf.See also Fig. 2 and shown in Figure 3, on the bank bridge, be provided with the extra large side that hangs extra large side suspender put on the shelf 20 and the land side that hangs land side suspender put 22 on the shelf, the two cart direction oil cylinders 204 of level attitude of two butt joint large tanks 202 and the two vertical oil cylinders 206 of regulating the upright position of two butt joint large tanks 202 are put and 20 be provided with two butt joint large tanks 202, regulated to wherein extra large side on the shelf; Side 22 two butt plates 220 that are provided with for two butt joint large tanks 202 butt joint usefulness of putting on the shelf in land respectively are equipped with hydraulic pressure gripper jaw 222 (not shown) on the butt plate.The sea side is put on the shelf and 20 is put on the shelf with the land side and 22 to achieve a butt joint and separate by two butt joint large tanks 202.
Fig. 4 is the structured flowchart of the butt joint electric-control system of the two 40 chi bank bridges of the present invention.See also shown in Figure 4ly, electric-control system of the present invention comprises a control unit 40, be located on the butt joint large tank 202 the first oil cylinder electromagnetic valve 401 with as the first backguy coder 402 of first detection part, be located on the cart direction oil cylinder 204 the second oil cylinder electromagnetic valve 403 with as the second backguy coder 404 of second detection part, be located at the 3rd oil cylinder electromagnetic valve 405 on the vertical oil cylinder 206 and detect spacing 406 and be located at approaching spacing 407 on gripper jaw 222 and electromagnetic valve 408.Each electromagnetic valve is used to control the flexible of its place oil cylinder, for example the first oil cylinder electromagnetic valve, 401 control butt joint large tanks 202 is flexible, stretching of the second oil cylinder electromagnetic valve 403 control cart direction oil cylinders 204, and then the parallel motion (being sidesway) of control butt joint large tank, electromagnetic valve 408 is then controlled opening of gripper jaw 222 and is firmly grasped.Each backguy coder is used to detect the telescopic location of its place oil cylinder, and for example the second backguy coder 404 detects the telescopic location of cart direction oil cylinder 204, can obtain to dock the level attitude of large tank 202 whereby.Detect spacing 406 states that are used for detection of vertical oil cylinder 26, when vertical oil cylinder 26 is in extra large side and puts 20 bottom position on the shelf, detect spacing 406 and will respond to activation.Whether with butt plate approaching, if approaching, then induction activates near spacing 407 if being used for detecting butt joint large tank 202.
This electric-control system also comprises a handling device 409, constitutes by joint action table with handle and button and operator's station, and a read out instrument 410, it can comprise display screen and/or instrument box etc.
Please in conjunction with consulting Fig. 5～the present invention shown in Figure 8 butt joint control method diagram of circuit of putting on the shelf, control unit 40 is configured to carries out following flow process:
1. dock control flow (automatic mode), see also automatic butt model process figure shown in Figure 5:
After hoisting crane opens the beginning, after control unit 40 is received " connection " button command signal (step S50), to detect the lifting altitude value of two suspenders (extra large side, land side) automatically, when highly differing (step S51), enter automatic butt pattern (otherwise think manual mode) less than height lower limit 40mm.Control backguy coder 402,404 and detect the oil cylinder position at place (step S52) separately this moment, if detect oil cylinder not in zero-bit, then will dock large tank 202, cart direction oil cylinder 204 makes zero/meta (step S53), even cart direction oil cylinder 204 moves to and the vertical position of putting on the shelf, make butt joint large tank 202 flexible to identical length (being benchmark generally) with long oil cylinder.This moments two, butt joint large tank 202 was ready to do automatic butt.
After two oil cylinders were ready to butt joint, control is fixed on the extra large side vertical oil cylinders 206 of two of 20 sides of putting on the shelf rose, and two butt joint large tanks 202 are held up level attitude (step S54), until oil cylinder to limit stop position.Meanwhile, open put on the shelf two gripper jaws 222 (step S55) above 22 of land side, to wait for the arrivals of two butt joint large tanks 202, for butt joint is prepared.
Then, two butt joint large tanks 202 are stretched out simultaneously, two gripper jaw 222 directions of past land side move (step S56).When being close to the land side, butt joint large tank 202 puts on the shelf behind the butt plate 220 above 22, be contained in two on the butt plate 220 and will respond to activation respectively near spacing 407, feed back to control unit 40, cooresponding oil cylinder (step S57) is embraced and firmly grasped to control unit 40 by electromagnetic valve 408 controls immediately near spacing 407 pairing gripper jaws 222, so just realized two butt joints of putting on the shelf.
After connecting, two vertical oil cylinders 206 are descended, return to extra large side 20 bottom positions (step S58) of putting on the shelf, detect spacing 406 inductions this moment and activate, control unit 40 is confirmed vertical oil cylinder 206 returned putting in place, the then whole connection procedure of putting on the shelf is finished.Vertical oil cylinder 206 is return and is put in place, is to break vertical oil cylinder for fear of butt joint back large tank 202 sidesways with stretching.
In whole automatic butt operation,, just make system just enter manual joint mode as long as control unit 40 is received " width ", " Eight characters ", " changing of the relative positions " action button command signal (step S59).
It may be noted that butt joint large tank 202 does when butt joint stretching out, extension elongation is a limiting protecting; be set in 404mm in the present embodiment; extend preseting length and fail to finish connection, control unit 40 will make it stop to stretch, and butt joint large tank 202 unrestrictedly stretches out when avoiding the unforeseen circumstances connection unsuccessful.
2. dock control flow (manual mode), see also manual joint mode diagram of circuit shown in Figure 6:
After hoisting crane starts,, during simultaneously again less than height upper limit 300mm (step S60), enter manual joint mode when control unit 40 detects diff-H that two suspenders (extra large side, land side) hoist greater than height lower limit 40mm.
After system enters manual joint mode, make two vertical oil cylinders 206 remain on put on the shelf 20 bottom of extra large side, detect spacing 406 and will respond to activation, feed back to control unit 40 (step S61) simultaneously.This is because under manual mode, butt joint large tank 202 will do flexible and about motion, if vertical oil cylinder 206 lifts, will be broken, so do interlock protection, guarantee that vertical oil cylinder 206 does not rise by detecting spacing 406.Under manual mode, control unit 40 response is to the operation of exterior button " width ", " Eight characters ", " changing of the relative positions " achieve a butt joint flexible, the sidesway (step S62) of large tank 202, when the user feels to satisfy under the situation of butt joint, press " butt joint " button, the command signal (step S63) of control unit 40 test button, two gripper jaws 222 that the land side is put on the shelf above 22 open (step S64), for butt joint is prepared; Control unit 40 still can respond the operation of button " width ", " Eight characters ", " changing of the relative positions " was slowly moved (step S65) to the direction of gripper jaw 222 will dock large tank 202 this moment; Also can dock assistance by the lifting altitude of regulating suspender within the specific limits when it may be noted that butt joint; After activating near spacing 407 inductions, control unit 40 is firmly grasped (step S66) immediately by electromagnetic valve 408 control gripper jaws 222, has realized two butt joints of putting on the shelf.
After connecting, control unit 40 detects two vertical oil cylinders 206 once more whether at extra large side 20 bottom positions (step S67) of putting on the shelf, and when detecting spacing 406 inductions under state of activation, the then whole butt joint of putting on the shelf is no problem.
After butt joint was finished, system can response external operate, and oil cylinder position is made zero, and (Fig. 4 Fig. 5), throws off to get ready so that be perhaps to write down oil cylinder position.
3. throw off control flow (automatic mode), see also automatic disengaged mode diagram of circuit shown in Figure 7:
Hoisting crane after control unit 40 is received " disengagement " button command signal (step S70), detects the lifting altitude of two suspenders (extra large side, land side) after starting beginning, when highly differing less than 40mm (step S72), makes system enter automatic disengaged mode.
In automatic disengaged mode, at first, backguy coder 402,404 detects place oil cylinder position (step S73) separately, if detect butt joint large tank 202 and cart direction oil cylinder 204 not at meta, control unit 40 will make these oil cylinders make zero/meta (step S74), be about to cart direction oil cylinder 204 and move toward the center, two butt joint large tanks 202 are flexible to identical length (being benchmark with short oil cylinder generally).This moments two, butt joint large tank 202 was ready to do automatic disengagement.
Afterwards, make two butt joint oil cylinders 202 simultaneously slowly indentation close up, when being reduced to the position (being 0mm) that two suspenders set, stop (step S75).After putting in place, control two vertical oil cylinders 206 and rise, will dock large tank 202 and hold up level attitude, arrived limit stop position (step S76) until oil cylinder.At this moment, discharge land side two the top gripper jaws 222 of putting on the shelf immediately, realize put on the shelf 22 the disengagement (step S77) of two butt joint large tanks 202 and land side.
After the disengagement, detecting spacing 406 loses induction, gripper jaw 222 closes up, dock large tank 202 and be withdrawn into the end (step S78) this moment, two vertical oil cylinders 206 that extra large afterwards side is put on the shelf above 20 descend, return to bottom position (step S79), confirm to detect spacing 406 inductions under state of activation when control unit 40, the then whole disconnecting process of putting on the shelf finishes fully.
Should be pointed out that lifting altitude difference when two suspenders greater than 40mm, and during less than 300mm, the automatic mode of disengagement just can't use, and must finish with manual mode.
4. throw off control flow (manual mode), see also manual disengaged mode diagram of circuit shown in Figure 8:
After hoisting crane starts beginning,, during simultaneously again less than 300mm (step S80), make system enter manual disengaged mode when control unit 40 detects two suspenders (extra large side, land side) lifting altitude difference greater than 40mm.
In manual disengaged mode, control unit 40 responses the operation of outer button " width ", " Eight characters ", " changing of the relative positions " is made two butt joint large tanks 202 simultaneously slowly indentation close up (step S81), when being reduced to the position (0mm) that two suspenders set, stop.After putting in place, two vertical oil cylinders 206 are risen, will dock large tank 202 and hold up level attitude, arrived limit stop position until oil cylinder.At this moment, after the user pressed " disengagement " button again, control unit 40 detected the command signal (step S82) of these buttons, discharged put on the shelf two gripper jaws 222 (step S83) above 22 of land side immediately.Realize put on the shelf 22 the disengagement of two butt joint large tanks 202 and land side.
After the disengagement, detecting spacing 406 loses induction, gripper jaw 222 closes up, dock large tank 202 and be withdrawn into the end (step S84) this moment, after this, two vertical oil cylinders 206 are descended, return to put on the shelf 20 bottom position (step S85) of extra large side, confirm to detect spacing 406 inductions under state of activation when control unit 40, the then whole disconnecting process of putting on the shelf finishes fully.
Should be pointed out that system will not carry out manually or automatically throws off, as protection when diff-H during greater than 300mm.
Above embodiment explanation only is preferred embodiment explanation of the present invention, and those skilled in the art can make the replacement and the modification of other all equivalence according to the above embodiment of the present invention explanation.Yet these all equivalences of doing according to the embodiment of the invention are replaced and are revised, and belong to invention spirit of the present invention and reach by in the claim that claim defined.
Claims (9)
1. two 40 chi bank bridges are put on the shelf to dock and are thrown off control method, be provided with on described bank bridge that the extra large side that hangs extra large side suspender is put on the shelf and the land side that hangs land side suspender is put on the shelf, wherein extra large side is put on the shelf and is provided with two butt joint large tanks, regulate two cart direction oil cylinders of two butt joint large tank level attitudes, and the two vertical oil cylinders of regulating two butt joint large tank upright positions, the land side is put on the shelf to be provided with for two butt joint large tanks and is docked two butt plates of usefulness, the hydraulic pressure gripper jaw respectively is housed on the butt plate, it is characterized in that
Described control method comprises the butt joint control flow and throws off control flow;
The butt joint control flow may further comprise the steps:
1) response one butt joint instruction and detect the lifting altitude value of extra large side suspender and land side suspender when the two highly differs less than height down in limited time, enters the automatic butt pattern;
2) in the automatic butt pattern, a) detect the position of two butt joint large tanks and two cart direction oil cylinders, and control two cart direction oil cylinders and move to and the extra large side vertical position of putting on the shelf, control two butt joint large tanks are flexible to identical length; B) two vertical oil cylinders of control rise, and two butt joint large tanks are held up level attitude, open land side two the top gripper jaws of putting on the shelf simultaneously; C) two butt joints of control large tank stretches out simultaneously, and the gripper jaw direction of past land side moves; D) after two butt joint large tanks were close to the butt plate of land side above putting on the shelf, the control gripper jaw was firmly grasped cooresponding butt joint large tank; E) two vertical oil cylinders of control descend, and return to the bottom position that extra large side is put on the shelf;
Throwing off control flow may further comprise the steps:
1) response one is thrown off instruction and is detected the lifting altitude of extra large side suspender and land side suspender, when the two diff-H less than height down in limited time, enter automatic disengaged mode;
2) in automatic disengaged mode, a) detect the position of two butt joint large tanks and two cart direction oil cylinders, and control two cart direction oil cylinders and move to and the extra large side vertical position of putting on the shelf, control two butt joint large tanks are flexible to identical length; B) two butt joints of control large tank is retracted to the position that two suspenders are set simultaneously; C) two vertical oil cylinders of control rise, and two butt joint large tanks are held up level attitude, discharge land side two the top gripper jaws of putting on the shelf simultaneously, make the disengagement of putting on the shelf of two butt joint large tanks and land side; D) control two butt joint large tanks are withdrawn into the end, control two vertical oil cylinders afterwards and return to the bottom position that extra large side is put on the shelf, and guarantee that by detection two vertical oil cylinders are in this bottom position.
2. two 40 chi bank bridges as claimed in claim 1 are put on the shelf to dock and are thrown off control method, it is characterized in that, in the step 1) of butt joint control flow, when the diff-H that detects two suspenders is between a height lower limit and a height upper limit, enter at the manual joint mode of step 3), manually joint mode comprises:
A) control two vertical oil cylinders remain on the extra large side also state of detection of vertical oil cylinder of bottom of putting on the shelf; B) the response external operation is docked the sidesway of large tank with control and is stretched; C) response one butt joint instruction and open land side two the top gripper jaws of putting on the shelf, d) the response external operation is stretched out simultaneously to control two butt joint large tanks, moves toward the gripper jaw direction of land side; E) after two butt joint large tanks were close to the butt plate of land side above putting on the shelf, the control gripper jaw was firmly grasped cooresponding butt joint large tank; F) guarantee that by detection two vertical oil cylinders are in the bottom position that extra large side is put on the shelf.
3. control method is thrown off in two 40 chi bank bridges as claimed in claim 2 butt joint of putting on the shelf, it is characterized in that, in described automatic butt pattern, when detecting outside M/C signal, enters manual joint mode.
4. control method is thrown off in two 40 chi bank bridges as claimed in claim 1 or 2 butt joint of putting on the shelf, it is characterized in that, in the step 1) of butt joint control flow, when the diff-H that detects two suspenders greater than a height in limited time, do not carry out docking operation.
5. two 40 chi bank bridges as claimed in claim 1 are put on the shelf to dock and are thrown off control method, it is characterized in that, in the step 1) of throwing off control flow, when the diff-H that detects two suspenders is between a height lower limit and a height upper limit, enter 3) manual disengaged mode, manually disengaged mode comprises:
A) the response external operation is closed up the position of setting to two suspenders to control the indentation simultaneously of two butt joint large tanks; B) two vertical oil cylinders of control rise, and two butt joint large tanks are held up level attitude; C) response one is thrown off instruction and is discharged two gripper jaws of land side on putting on the shelf, makes the disengagement of putting on the shelf of two butt joint large tanks and land side; D) control two butt joint large tanks are withdrawn into the end, control two vertical oil cylinders afterwards and return to bottom position, and guarantee that by detection two vertical oil cylinders are in this bottom position.
6. control method is thrown off in the butt joint of putting on the shelf as claim 1 or 5 described two 40 chi bank bridges, it is characterized in that, throw off in the step 1) of control flow, when the diff-H that detects two suspenders greater than a height in limited time, do not carry out and throw off operation.
7. two 40 chi bank bridges are put on the shelf to dock and are thrown off control system, be provided with on described bank bridge that the extra large side that hangs extra large side suspender is put on the shelf and the land side that hangs land side suspender is put on the shelf, the two vertical oil cylinders that wherein extra large side is put on the shelf and is provided with two butt joint large tanks, regulates two cart direction oil cylinders of two butt joint large tank level attitudes and regulate two butt joint large tank upright positions, the land side is put on the shelf to be provided with for two butt joint large tanks and is docked two butt plates of usefulness, the big gripper jaw of hydraulic pressure respectively is housed on the butt plate, it is characterized in that described control system comprises:
Control unit is configured to and carries out the butt joint control flow and throw off control flow;
Be used to detect first detection part of the telescopic location of butt joint large tank, be located at respectively on two butt joint large tanks and and be electrically connected with control unit;
Be used to detect second detection part of the level attitude of cart direction oil cylinder, be located at respectively on the two cart direction oil cylinders and and be electrically connected with control unit;
The first oil cylinder electromagnetic valve is located on the two butt joint large tanks respectively and is electrically connected with control unit, and the Be Controlled unit controls is to regulate stretching of butt joint large tank;
The second oil cylinder electromagnetic valve is located at respectively on the two cart direction oil cylinders and with control unit and is electrically connected, and the Be Controlled unit controls is to regulate the flexible of cart direction oil cylinder;
The 3rd oil cylinder electromagnetic valve is located at respectively on the vertical oil cylinder and with control unit and is electrically connected, and the Be Controlled unit controls is to regulate the flexible of vertical oil cylinder;
It is spacing to be used for detection of vertical oil cylinder status detection, is located at put on the shelf bottom and be electrically connected with control unit of extra large side;
Gripper jaw electromagnetic valve, Be Controlled unit controls make gripper jaw open and firmly grasp;
Near spacing, be located at respectively on two butt plates and and be electrically connected with control unit, when docking with two butt plates, two butt joint large tanks respond to activation, feed back to control unit;
Read out instrument is electrically connected to control unit, shows the suspender state parameter in butt joint and the process;
Handling device is electrically connected to control unit, is operated so that control unit is sent operating order.
8. two 40 chi bank bridges as claimed in claim 7 are put on the shelf to dock and are thrown off control system, it is characterized in that described control unit is made of programmable logic controller (PLC).
9. two 40 chi bank bridges as claimed in claim 7 are put on the shelf to dock and are thrown off control system, it is characterized in that described first detection part and second detection part are made of the backguy coder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101170950A CN101161584B (en) | 2006-10-13 | 2006-10-13 | Method and system for buttjuncting and controlling double 40 ruler shore bridge upper shelf |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101170950A CN101161584B (en) | 2006-10-13 | 2006-10-13 | Method and system for buttjuncting and controlling double 40 ruler shore bridge upper shelf |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101161584A CN101161584A (en) | 2008-04-16 |
| CN101161584B true CN101161584B (en) | 2010-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006101170950A Expired - Fee Related CN101161584B (en) | 2006-10-13 | 2006-10-13 | Method and system for buttjuncting and controlling double 40 ruler shore bridge upper shelf |
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| Country | Link |
|---|---|
| CN (1) | CN101161584B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1365336A (en) * | 2000-02-14 | 2002-08-21 | 诺尔起重系统有限公司 | Crane comprising lifting mechanisms having two drums |
| CN2517720Y (en) * | 2001-09-14 | 2002-10-23 | 上海振华港口机械股份有限公司 | Extension mechanism and locking hook device of double-bin hook block |
-
2006
- 2006-10-13 CN CN2006101170950A patent/CN101161584B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1365336A (en) * | 2000-02-14 | 2002-08-21 | 诺尔起重系统有限公司 | Crane comprising lifting mechanisms having two drums |
| CN2517720Y (en) * | 2001-09-14 | 2002-10-23 | 上海振华港口机械股份有限公司 | Extension mechanism and locking hook device of double-bin hook block |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101161584A (en) | 2008-04-16 |
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