CN101386397B - Anti-collision control method for gantry crane lifting trolley - Google Patents
Anti-collision control method for gantry crane lifting trolley Download PDFInfo
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- CN101386397B CN101386397B CN200810201856XA CN200810201856A CN101386397B CN 101386397 B CN101386397 B CN 101386397B CN 200810201856X A CN200810201856X A CN 200810201856XA CN 200810201856 A CN200810201856 A CN 200810201856A CN 101386397 B CN101386397 B CN 101386397B
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Abstract
The invention relates to an anti-collision control method for a gantry crane when lifting a compact car. The method comprises reading the message of laser line scanning safe door curtain and the walking direction of the compact car which is generated by a sensor at scanning position of the laser lines, the message of the swaying of workpiece and the length of a lifting rope, dynamic real-time measuring in an anti-collision protection zone and calculation and treatment for displaying the distance of hoisting workpiece and support legs of the gantry crane, and treatment operation of preventing the collision of the hoisting workpiece and the support legs of the gantry crane in the moving process of a compact car. The anti-collision control method is adopted for dynamic and real time measuring in the anti-collision protection zone and displaying the distance of the hoisted workpiece and the support legs of the crane and realizes automatic or manual closed loop control. Combined with the hoisting control technique, anti-shaking technique, anti-collision technique, the method effectively prevents the collision of the hoisted workpiece and the support legs of the crane in the moving process of the compact car, is economical and practical, safe and reliable, has simple structure, low cost, wide applicable range and solves the safe problem of the running corrosion of the compact car in the hoisting process.
Description
Technical field
The present invention relates to gauntry crane handling technique field, particularly operation control system field in the gantry crane lifting process specifically is meant a kind of anti-collision control method for gantry crane lifting trolley.
Background technology
In the modern society, gantry crane is the visual plant in the commercial production, production, installation for main equipment have important role, particularly in the shipbuilding yard, gauntry crane often develops into highly nearly hundred meters, more than 100 meter of span even more than 200 meter, in addition, in order to satisfy work efficiency, the running velocity of gauntry crane also has certain requirement, and is also more and more higher to driver driving and operation requirement like this.Gauntry crane bumps in the carriage walking process easily, and major cause is:
1. the body form of gantry crane lifting, length, different sizes, thus the driver can not know exactly that workpiece is in the middle of the operation and the distance between the crane supporting leg.
2. in the gantry crane lifting motion process, the driver often can not see or not see the global shape of hanging object, also just can not judge the distance of hanging object and crane supporting leg exactly.
3. in the gantry crane lifting motion process, because motion, wind or other external force can cause that object waves, thereby also influence judgment object running orbit and position distance.(visual problem)
4. in the gantry crane lifting motion process, often weight is big and the lifting rope is longer owing to hung workpiece, causes being lifted workpiece easily because inertia waves on the supporting leg that strikes gauntry crane, causes major accident.(braking needs safe and reliable method).
5. the driver drove the accuracy requirement height in about about 100 meters highly operations when gauntry crane was driven, and intensity is big, and is tired easily, dispersion attention, (needing actv. to show and/or alarm)
6. driver's cab often is fixed on the rigidity leg here, and observation often is not on a perpendicular line to hanging object, so the exact location of object parallel motion is observed and control ratio is difficult, particularly when here lifting away from the rigidity leg or near flexible leg
Because the object of gantry crane lifting is often all very big, weigh tens tons even hundreds of ton often cause serious accident involving serious consequences in case bump, and machine is ruined the serious consequence that the people finishes even.For safety, hoisting crane is slow running in hoisting process, perhaps walks " door font " path of motion, can reduce object and wave, but influence production efficiency greatly so again, has increased equipment energy consumption and mechanical wear.
For different lifting workpiece, how can know the workpiece that lifted distance, and be continuously in motion process, to know this distance in real time to the gauntry crane supporting leg, be effectively to prevent the key that bumps in the moving of car.In case obtain the information of this distance, just can form closed loop control by the mode of " automatically " or " manually ", guarantee to be hung in the workpiece motion s distance with the gauntry crane supporting leg, in addition, because hanging object bigger waving can occur because rope is very long in hoisting process, can also utilize the single pendulum model that the factor of waving is taken into account, calculate the dynamic distance of being hung workpiece and supporting leg in real time, also can utilize the anti-control technology of shaking to be ended pendulum and control, make the motion of hanging object and waving and under the controollable state, to move of stopping hanging workpiece.
Summary of the invention
The objective of the invention is to have overcome above-mentioned shortcoming of the prior art, provide a kind of can prevent effectively the workpiece and the crane supporting leg that lift in the lifting trolley motion process bump, economical and practical, safe and reliable, simple in structure, cost is lower, Applicable scope anti-collision control method for gantry crane lifting trolley comparatively widely.
In order to realize above-mentioned purpose, anti-collision control method for gantry crane lifting trolley of the present invention is as follows:
This anti-collision control method for gantry crane lifting trolley, described gauntry crane comprises central gauntry crane carriage walking crossbeam and is vertically installed in the gauntry crane supporting leg of these gauntry crane carriage walking crossbeam both sides, wherein also be provided with the crashproof control setup of crane dolly in the gauntry crane, lifting workpiece position detecting module and lifting motion-control module, described lifting workpiece position detecting module comprises the dolly position coder, position coder and laser line scanning position transduser hoist, described dolly position coder, the position coder that hoists all is connected with the crashproof control setup of described crane dolly with the laser line scanning position transduser, the crashproof control setup of described crane dolly is connected with described lifting motion-control module, its principal feature is that described method may further comprise the steps:
(1) the gauntry crane system carries out initialization;
(2) the gauntry crane system reads laser line scanning safety door curtain and the carriage walking direction information that the laser line scanning position transduser is produced;
(3) the gauntry crane system dynamics carries out measuring and showing the computing of the distance of lifting workpiece and gauntry crane supporting leg in real time in the Anti-bumping protection district;
(4) the gauntry crane system prevents to lift the processing operation that workpiece and gauntry crane supporting leg bump in the moving of car process.
The computing of measuring and show the distance of lifting workpiece and gauntry crane supporting leg in the Anti-bumping protection district in this anti-collision control method for gantry crane lifting trolley may further comprise the steps:
(31) the gauntry crane system enters moment of laser line scanning safety door curtain according to the lifting workpiece, the position of record dolly;
(32) the gauntry crane system calculates according to the state dynamic real-time ground of lifting workpiece operation and lifts workpiece and the distance gauntry crane supporting leg.
Also comprise lifting workpiece angle of oscillation degree sensor in the described lifting workpiece position detecting module; described lifting workpiece angle of oscillation degree sensor is connected with the crashproof control setup of described crane dolly, preceding can also may further comprise the steps of step (32) of measuring and show the computing of the distance that lifts workpiece and gauntry crane supporting leg in the Anti-bumping protection district in this anti-collision control method for gantry crane lifting trolley:
(311) the gauntry crane system enters the moment, the position that record hoists and the lifting workpiece angle of oscillation degree of laser line scanning safety door curtain according to the lifting workpiece.
The processing operation that workpiece that preventing in this anti-collision control method for gantry crane lifting trolley lifts and crane supporting leg bump may further comprise the steps:
(41) the gauntry crane system detects and information acquisition in real time to lifting workpiece state of kinematic motion, phase place, deceleration and parking condition, and the distance and the time that calculate the distance of waving and time, end pendulum, does not wave thereby guarantee to be lifted the steady stop of workpiece;
(42) the gauntry crane system detects and information acquisition in real time to lifting workpiece state of kinematic motion, phase place, deceleration and parking condition, and calculates deceleration distance and time, stopping distance and time, thereby guarantees to lift workpiece and the gauntry crane supporting leg does not bump.
Dolly position coder in this anti-collision control method for gantry crane lifting trolley can be a dolly position relative coding device, also can be dolly position absolute encoder.
The position coder that hoists in this anti-collision control method for gantry crane lifting trolley can be the position relative coding device that hoists, and also can be the position absolute encoder that hoists.
Laser line scanning position transduser in this anti-collision control method for gantry crane lifting trolley is arranged on the gauntry crane carriage walking crossbeam, and and the safety distance of apart presetting between the gauntry crane supporting leg, this laser line scanning position transduser carries out line sweep the lifting workpiece is formed recessive safe door curtain, and it is perpendicular with gauntry crane carriage walking crossbeam direction, parallel with gauntry crane supporting leg inboard, described safety distance guarantee to be hung workpiece in time slow down and stop with and do not bump.
Lifting workpiece angle of oscillation degree sensor in this anti-collision control method for gantry crane lifting trolley is arranged on the dolly, the lifting workpiece of monitoring in hoisting process is owing to waving that motion, wind or other external force cause, and described lifting workpiece angle of oscillation degree sensor calculates workpiece owing to wave the offset that may cause by the rope length of the resulting lifting workpiece of the coder that hoists.
Gauntry crane system in this anti-collision control method for gantry crane lifting trolley obtains the range information of lifting workpiece and crane supporting leg, and utilize described dolly control unit, the control unit that hoists, cart control unit and lifting workpiece position display unit, carry out the closed loop control of automatic or manual.
Crashproof control setup of crane dolly in this anti-collision control method for gantry crane lifting trolley and/or dolly control unit and/or hoist control unit and/or cart control unit are PLC programmable logic controller (PLC), nonshared control unit or industrial computer.
Adopted anti-collision control method for gantry crane lifting trolley of the present invention; owing to wherein utilize the dolly position coder; position coder hoists; laser line scanning position transduser and lifting workpiece angle of oscillation degree sensor; thereby lifting workpiece to the difformity size; can dynamic real-time in the Anti-bumping protection district, measure and show the distance of being hung workpiece and crane supporting leg; thereby provide closed loop control for " automatically " or " manually " effectively; and in conjunction with the lifting control technology; the anti-technology of shaking; anti-collision technique; effectively prevented in the moving of car process potential safety hazard that lifting workpiece and crane supporting leg bump; simultaneously economical and practical; safe and reliable; cost is lower; Applicable scope is comparatively extensive, has solved the safety problem that the trolley travelling collision causes in the gantry crane lifting process effectively.
Description of drawings
Fig. 1 is the hardware configuration scheme drawing of anti-collision control method for gantry crane lifting trolley of the present invention.
Fig. 2 is the workflow scheme drawing of anti-collision control method for gantry crane lifting trolley of the present invention.
Fig. 3 is the principle of work scheme drawing of anti-collision control method for gantry crane lifting trolley of the present invention.
The specific embodiment
In order more to be expressly understood technology contents of the present invention, describe in detail especially exemplified by following examples.
See also shown in Figure 1, anti-collision control method for gantry crane lifting trolley of the present invention based on hardware system, comprise the crashproof control setup 5 of crane dolly, also comprise lifting workpiece position detecting module and lifting motion control mould, they are connected with the crashproof control setup 5 of crane dolly respectively.Wherein, the lifting motion-control module of described system comprise dolly control unit 6, the control unit 7 that hoists, cart control unit 8 and lifting workpiece position display unit 9; The lifting workpiece position detecting module of described system comprises dolly position coder 1, the position coder 2 that hoists, laser line scanning position transduser 3, can further include lifting workpiece angle of oscillation degree sensor 4, described overhead crane control device 5, dolly control unit 6, the control unit 7 that hoists, cart control unit 8 can be PLC programmable logic controller (PLC), nonshared control unit or industrial computer, can certainly adopt other to have the control convenience of corresponding function.
Wherein, described dolly position coder 1 can be a dolly position relative coding device, also can be dolly position absolute encoder.The described position coder 2 that hoists can be the position relative coding device that hoists, and also can be the position absolute encoder that hoists.
See also shown in Figure 2 again, this anti-collision control method for gantry crane lifting trolley, described gauntry crane comprises central gauntry crane carriage walking crossbeam and is vertically installed in the gauntry crane supporting leg of these gauntry crane carriage walking crossbeam both sides, wherein also be provided with the crashproof control setup of crane dolly in the gauntry crane, lifting workpiece position detecting module and lifting motion-control module, described lifting workpiece position detecting module comprises the dolly position coder, position coder hoists, laser line scanning position transduser and lifting workpiece angle of oscillation degree sensor, described dolly position coder, position coder hoists, the laser line scanning position transduser all is connected with the crashproof control setup of described crane dolly with lifting workpiece angle of oscillation degree sensor, the crashproof control setup of described crane dolly is connected with described lifting motion-control module, wherein, described method may further comprise the steps:
(1) the gauntry crane system carries out initialization;
(2) the gauntry crane system reads laser line scanning safety door curtain and the carriage walking direction information that the laser line scanning position transduser is produced;
(3) the gauntry crane system dynamics carries out measuring and showing the computing of the distance of lifting workpiece and gauntry crane supporting leg in real time in the Anti-bumping protection district, may further comprise the steps:
(a) the gauntry crane system enters moment of laser line scanning safety door curtain according to the lifting workpiece, the position of record dolly; Can also may further comprise the steps:
(i) the gauntry crane system enters moment of laser line scanning safety door curtain according to the lifting workpiece, position that record hoists and lifting workpiece angle of oscillation degree;
(b) the gauntry crane system calculates according to the state dynamic real-time ground of lifting workpiece operation and lifts workpiece and the distance gauntry crane supporting leg;
(4) the gauntry crane system prevents to lift the processing operation that workpiece and gauntry crane supporting leg bump in the moving of car process, may further comprise the steps:
(a) the gauntry crane system detects and information acquisition in real time to lifting workpiece state of kinematic motion, phase place, deceleration and parking condition, and the distance and the time that calculate the distance of waving and time, end pendulum, does not wave thereby guarantee to be lifted the steady stop of workpiece;
(b) the gauntry crane system detects and information acquisition in real time to lifting workpiece state of kinematic motion, phase place, deceleration and parking condition, and calculates deceleration distance and time, stopping distance and time, thereby guarantees to lift workpiece and the gauntry crane supporting leg does not bump.
Wherein, described dolly position coder can be a dolly position relative coding device, also can be dolly position absolute encoder; The described position coder that hoists can be the position relative coding device that hoists, and also can be the position absolute encoder that hoists.
Simultaneously, this laser line scanning position transduser is arranged on the gauntry crane carriage walking crossbeam, and and the safety distance of apart presetting between the gauntry crane supporting leg, this laser line scanning position transduser carries out line sweep the lifting workpiece is formed recessive safe door curtain, and it is perpendicular with gauntry crane carriage walking crossbeam direction, parallel with gauntry crane supporting leg inboard, described safety distance guarantee to be hung workpiece in time slow down and stop with and do not bump.
And, described lifting workpiece angle of oscillation degree sensor is arranged on the dolly, the lifting workpiece of monitoring in hoisting process is owing to waving that motion, wind or other external force cause, and described lifting workpiece angle of oscillation degree sensor calculates workpiece owing to wave the offset that may cause by the rope length of the resulting lifting workpiece of the coder that hoists; The range information of described gauntry crane system's acquisition lifting workpiece and crane supporting leg, and utilize described dolly control unit, the control unit that hoists, cart control unit and lifting workpiece position display unit, carry out the closed loop control of automatic or manual.
Crashproof control setup of described crane dolly and/or dolly control unit and/or hoist control unit and/or cart control unit are PLC programmable logic controller (PLC), nonshared control unit or industrial computer.
In the middle of reality is used, see also shown in Figure 3, the anti-collision control method for gantry crane lifting trolley of this invention, hoisting crane 11 can move to a level attitude by cart 14 car loads, dolly 12 can sway, suspender and/or workpiece 13 can move up and down, and during loading and unloading, the driver is sitting in driver's cab 15.
Described laser line scanning position transduser 16 is installed on the crossbeam of gauntry crane carriage walking, apart from the gauntry crane supporting leg certain safety distance is arranged, line sweep forms recessive together safe door curtain to the workpiece of lifting, form vertical with the crossbeam direction, adjustable brace is inboard form parallel, the safety distance that this safe door curtain and supporting leg form can guarantee to be hung workpiece in time slows down and parking with and do not bump.
Described lifting workpiece angle of oscillation degree sensor 17 is installed on the dolly 12, be responsible for monitoring in hoisting process, by the workpiece that lifted because waving of causing of motion, wind or other external force, by the coder that hoists calculate the rope of lifting workpiece long with wave angular transducer and can calculate workpiece jointly owing to wave the offset that may cause.
See also shown in Figure 3, in the crashproof control system of the gantry crane lifting trolley of this invention, software flow is that (it can be independently by the crashproof controller of crane dolly, it also can be the crane existing device, usually realize by PLC programmable logic controller (PLC) or nonshared control unit or industrial computer) realize, at first, read the safe door curtain that laser line scanning forms, whether discovery workpiece occurs in the direction of moving of car and scope enters this safe door curtain, in case enter, the dolly and the encoder information that hoists under the immediate record calculate the position of suspender.Because the lifting workpiece is great and rope is longer, the workpiece that is lifted is owing to waving that motion, wind or other external force cause, waving departing from of the workpiece that causes and focus point can reach several rice, therefore, this part can calculate workpiece owing to waving the offset that may cause jointly apart from also must calculating in earnest and consider, calculating the rope length of lifting workpiece and wave angular transducer by the coder that hoists in crashproof control setup.System accurately provides by the lifting workpiece in hoisting process and the distance between the gauntry crane supporting leg dynamic real-time like this, thereby provide the possibility of closed loop control for " automatically " or " manually ", in conjunction with control technology, anti-technology and the anti-collision technique of shaking, this system can be according to the running state of lifting trolley, as speed, acceleration/accel, swinging condition and phase place, decision deceleration and stopping distance and time, thereby just can prevent effectively that the workpiece of lifting and crane supporting leg bump in the moving of car process.
Collective diagram 1 to 3 described this anti-collision control method for gantry crane lifting trolley; the information that comprise in the described system that system utilizes the dolly position coder, the position coder that hoists, laser line scanning position transduser and lifting workpiece angle of oscillation degree sensor provides; it is characterized in that; described method is to the lifting workpiece of difformity size, can dynamic real-time ground measures in the Anti-bumping protection district and shows the distance of being hung workpiece and crane supporting leg.
In this anti-collision control method for gantry crane lifting trolley, described laser line scanning position transduser is installed on the crossbeam of gauntry crane carriage walking, apart from the gauntry crane supporting leg certain safety distance is arranged, line sweep forms recessive together safe door curtain to the workpiece of lifting, form vertical with the crossbeam direction, adjustable brace is inboard form parallel, the safety distance that this safe door curtain and supporting leg form can guarantee to be hung workpiece in time slows down and parking with and do not bump.
In this anti-collision control method for gantry crane lifting trolley, described lifting workpiece angle of oscillation degree sensor is installed on the dolly, be responsible for monitoring in hoisting process, by the workpiece that lifted because waving of causing of motion, wind or other external force, by the coder that hoists calculate the rope of lifting workpiece long with wave angular transducer and can calculate workpiece jointly owing to wave the offset that may cause.
In this anti-collision control method for gantry crane lifting trolley, the calculating of the distance of being hung workpiece and crane supporting leg is measured and is shown on described dynamic real-time ground in the Anti-bumping protection district, may further comprise the steps:
(11) system enters the safe door curtain moment that laser line scanning forms according to the lifting workpiece, record dolly and the position that hoists, and lifting workpiece angle of oscillation degree;
(12) system is according to the state of workpiece operation, as the dolly location variation with wave angle variable quantity, can calculate dynamic real-time and lift workpiece and the distance gauntry crane supporting leg;
In this anti-collision control method for gantry crane lifting trolley, described method is according to the distance of being hung workpiece and crane supporting leg of showing that obtains, system utilizes the dolly control unit, the control unit that hoists, cart control unit and lifting workpiece position display unit, and the possibility of closed loop control can be provided for " automatically " or " manually " effectively.
In this anti-collision control method for gantry crane lifting trolley, described method in the moving of car process, can effectively prevent that the workpiece and the crane supporting leg that lift from bumping, and may further comprise the steps in conjunction with lifting control technology, preventing shaking technology, anti-collision technique:
(21) system applies control technology, anti-technology and the anti-collision technique of shaking can distance of waving and time, the distance and the time of ending pendulum, be guaranteed to be lifted the steady stop of workpiece and not wave by lifting workpiece state of kinematic motion, phase place, deceleration and parking condition.
(22) system applies control technology, anti-technology and the anti-collision technique of shaking, can be to being lifted workpiece state of kinematic motion, phase place, deceleration and parking condition, calculate deceleration distance and time, stopping distance and time, guarantee not take place to be lifted the collision of workpiece and gauntry crane supporting leg.
Adopted above-mentioned anti-collision control method for gantry crane lifting trolley; owing to wherein utilize the dolly position coder; position coder hoists; laser line scanning position transduser and lifting workpiece angle of oscillation degree sensor; thereby lifting workpiece to the difformity size; can dynamic real-time in the Anti-bumping protection district, measure and show the distance of being hung workpiece and crane supporting leg; thereby provide closed loop control for " automatically " or " manually " effectively; and in conjunction with the lifting control technology; the anti-technology of shaking; anti-collision technique; effectively prevented in the moving of car process potential safety hazard that lifting workpiece and crane supporting leg bump; simultaneously economical and practical; safe and reliable; cost is lower; Applicable scope is comparatively extensive, has solved the safety problem that the trolley travelling collision causes in the gantry crane lifting process effectively.
In this specification sheets, the present invention is described with reference to its certain embodiments.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, specification sheets and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (9)
1. anti-collision control method for gantry crane lifting trolley, described gauntry crane comprises central gauntry crane carriage walking crossbeam and is vertically installed in the gauntry crane supporting leg of these gauntry crane carriage walking crossbeam both sides, wherein also be provided with the crashproof control setup of crane dolly in the gauntry crane, lifting workpiece position detecting module and lifting motion-control module, described lifting workpiece position detecting module comprises the dolly position coder, position coder and laser line scanning position transduser hoist, described dolly position coder, the position coder that hoists all is connected with the crashproof control setup of described crane dolly with the laser line scanning position transduser, the crashproof control setup of described crane dolly is connected with described lifting motion-control module, it is characterized in that, described laser line scanning position transduser is arranged on the gauntry crane carriage walking crossbeam, and and the safety distance of apart presetting between the gauntry crane supporting leg, this laser line scanning position transduser carries out line sweep the lifting workpiece is formed recessive safe door curtain, and it is perpendicular with gauntry crane carriage walking crossbeam direction, parallel with gauntry crane supporting leg inboard, described safety distance guarantee to be hung workpiece in time slow down and stop with and do not bump, described method may further comprise the steps:
(1) the gauntry crane system carries out initialization;
(2) the gauntry crane system reads laser line scanning safety door curtain and the carriage walking direction information that the laser line scanning position transduser is produced;
(3) the gauntry crane system dynamics carries out measuring and showing the computing of the distance of lifting workpiece and gauntry crane supporting leg in real time in the Anti-bumping protection district;
(4) the gauntry crane system prevents to lift the processing operation that workpiece and gauntry crane supporting leg bump in the moving of car process.
2. anti-collision control method for gantry crane lifting trolley according to claim 1 is characterized in that, the described computing of measuring and show the distance of lifting workpiece and gauntry crane supporting leg in the Anti-bumping protection district may further comprise the steps:
(31) the gauntry crane system enters moment of laser line scanning safety door curtain according to the lifting workpiece, the position of record dolly;
(32) the gauntry crane system calculates according to the state dynamic real-time ground of lifting workpiece operation and lifts workpiece and the distance gauntry crane supporting leg.
3. anti-collision control method for gantry crane lifting trolley according to claim 2; it is characterized in that; also comprise lifting workpiece angle of oscillation degree sensor in the described lifting workpiece position detecting module; described lifting workpiece angle of oscillation degree sensor is connected with the crashproof control setup of described crane dolly, describedly measures in the Anti-bumping protection district and shows that the step that is numbered (32) in the computing of lifting workpiece and the distance of gauntry crane supporting leg is preceding further comprising the steps of:
(311) the gauntry crane system enters the moment, the position that record hoists and the lifting workpiece angle of oscillation degree of laser line scanning safety door curtain according to the lifting workpiece.
4. anti-collision control method for gantry crane lifting trolley according to claim 1, it is characterized in that, also comprise lifting workpiece angle of oscillation degree sensor in the described lifting workpiece position detecting module, described lifting workpiece angle of oscillation degree sensor is connected with the crashproof control setup of described crane dolly, the described processing operation that prevents that the workpiece that lifts and crane supporting leg from bumping may further comprise the steps:
(41) the gauntry crane system detects and information acquisition in real time to lifting workpiece state of kinematic motion, phase place, deceleration and parking condition, and the distance and the time that calculate the distance of waving and time, end pendulum, does not wave thereby guarantee to be lifted the steady stop of workpiece;
(42) the gauntry crane system detects and information acquisition in real time to lifting workpiece state of kinematic motion, phase place, deceleration and parking condition, and calculates deceleration distance and time, stopping distance and time, thereby guarantees to lift workpiece and the gauntry crane supporting leg does not bump.
5. anti-collision control method for gantry crane lifting trolley according to claim 1 is characterized in that, described dolly position coder is dolly position relative coding device or dolly position absolute encoder.
6. anti-collision control method for gantry crane lifting trolley according to claim 1 is characterized in that, the described position coder that hoists is the position relative coding device or the position absolute encoder that hoists of hoisting.
7. anti-collision control method for gantry crane lifting trolley according to claim 1, it is characterized in that, described lifting workpiece angle of oscillation degree sensor is arranged on the dolly, the lifting workpiece of monitoring in hoisting process is owing to waving that motion, wind or other external force cause, and described lifting workpiece angle of oscillation degree sensor calculates workpiece owing to wave the offset that may cause by the rope length of the resulting lifting workpiece of the coder that hoists.
8. according to each described anti-collision control method for gantry crane lifting trolley in the claim 1 to 7, it is characterized in that, described lifting motion-control module comprises the dolly control unit, control unit hoists, cart control unit and lifting workpiece position display unit, crashproof control setup of described crane dolly and described dolly control unit, control unit hoists, the cart control unit all is connected with lifting workpiece position display unit, the range information of described gauntry crane system's acquisition lifting workpiece and crane supporting leg, and utilize described dolly control unit, control unit hoists, cart control unit and lifting workpiece position display unit carry out the closed loop control of automatic or manual.
9. according to each described anti-collision control method for gantry crane lifting trolley in the claim 1 to 7, it is characterized in that, described lifting motion-control module comprises the dolly control unit, control unit and cart control unit hoist, the crashproof control setup of described crane dolly all is connected with the cart control unit with described dolly control unit, the control unit that hoists, and crashproof control setup of described crane dolly and/or dolly control unit and/or hoist control unit and/or cart control unit are PLC programmable logic controller (PLC), nonshared control unit or industrial computer.
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| CN109484972A (en) * | 2018-07-02 | 2019-03-19 | 中交路桥北方工程有限公司 | A kind of combinable gantry crane |
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| CN112919320B (en) * | 2021-04-02 | 2023-12-26 | 烟台杰瑞石油装备技术有限公司 | Sand conveying equipment, control method and equipment thereof and storage medium |
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2008
- 2008-10-28 CN CN200810201856XA patent/CN101386397B/en not_active Expired - Fee Related
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| CN101386397A (en) | 2009-03-18 |
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