CN101769827A - Gantry crane test bed - Google Patents
Gantry crane test bed Download PDFInfo
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- CN101769827A CN101769827A CN200810249688A CN200810249688A CN101769827A CN 101769827 A CN101769827 A CN 101769827A CN 200810249688 A CN200810249688 A CN 200810249688A CN 200810249688 A CN200810249688 A CN 200810249688A CN 101769827 A CN101769827 A CN 101769827A
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- China
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- trolley
- motion
- chain
- gantry crane
- cart
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Abstract
The invention relates to a gantry crane test bed. A cart mechanism is in a gear and rack transmission and in a wheel walking structure; a trolley mechanism adopts a chain transmission structure; a trolley is fixed on a chain, so that the trolley moves with the chain along a guide rail of the trolley; and a lifting mechanism adopts the scheme of a reel and pulley block transmission. In a motion control system, a PC controls two sets of servo systems and a set of stepping motor driving system to respectively drive the cart mechanism, the trolley mechanism and the lifting mechanism to work. An encoder is used for measuring the displacement and the speed of cart motion, trolley motion and lifting motion, and a camera is used for measuring the motion and the swinging of load in real time, so as to simulate the situation of the motion of the three mechanisms of a gantry crane and the motion and the swinging of the load. The design and the building of the test bed provide reliable test data for reaching the dynamic features of the gantry crane, and have important theoretical significance and practical value in realizing the automation of the gantry crane, reducing the accident rate, and improving the working efficiency, the safety and the reliability.
Description
Technical field
The present invention has designed gantry crane test bed, is used to study dynamics, security, stability, reliability and the control technology of gantry.Belong to the handling machinery technology.
Background technology
Gantry is used for the port traffic industry in a large number, but is that automaticity is low based on manually-operated at present, and the accident rate height.In order effectively to solve these technical barriers, the present invention designs gantry crane test bed, is used to study the validity of gantry dynamics and control strategy, and the measure that improves crane safety, stability, reliability.
Summary of the invention
The present invention has designed gantry crane test bed big mechanism of car, trolley body, lifting mechanism and kinetic control system.The objective of the invention is in order to study the gantry dynamics, explore the gordian technique that realizes the gantry automation mechanized operation, for reduce failure rate, increase work efficiency, security, reliability provide testing equipment.As shown in Figure 1 gantry crane test bed.
Technical scheme
1. the transmission scheme of big mechanism of car
Big mechanism of car drive axle moves, and maximum moving distance is 10.0m, and specified movement velocity is 1ms
-1Big mechanism of car adopts the rack-and-pinion transmission, is rotated by the shaft coupling driven wheel by big tramcar motor, drives cart along the cart guide rail movement by the rack-and-pinion transmission.Cart mechanism driving scheme as shown in Figure 1.The characteristics of the big mechanism of car of rack-and-pinion transmission are that driving force is big, kinematic accuracy is high.
2. the transmission scheme of trolley body
The motion of trolley body driving trolley, maximum moving distance is 2.0m, specified movement velocity is 0.5ms
-1Trolley body adopts chain transmission.By shaft coupling drive chain wheel shaft rotation, adopt key to be connected between sprocket shaft and the sprocket wheel by little tramcar motor, thus the drive sprocket rotation, and driving trolley is moved along vehicle guide.The trolley body transmission scheme as shown in Figure 2.The characteristics of chaindriven trolley body are that driving force is big, kinematic accuracy is high, motion is steady, vibration is little.
3. lifting mechanism transmission scheme
Realize that the goods elevating movement just must have lifting mechanism.The present invention has adopted fixed pulley and travelling block to form the transmission scheme of pulley blocks, the advantage of pulley blocks transmission scheme: be convenient to increase multiplying factor, improve the stressing conditions of hoist rope; By increase multiplying factor, can under the situation that does not strengthen the motor power (output) that hoists, improve lifting capacity; By the conversion multiplying power, can obtain multiple lifting velocity.The lifting mechanism transmission scheme as shown in Figure 3.
4. kinetic control system scheme
Gantry crane test bed by PC control two cover servo-drive systems and a cover driving system of stepping motor, drive big mechanism of car, trolley body and lifting mechanism operation respectively.Every suit servo-drive system is made up of motion controller, servo-driver, servomotor, 11 line 2500P/r incremental optical-electricity encoders are contained on the servo motor shaft, measure the corner and the rotating speed of servomotor, measure the operation displacement and the speed of cart and dolly indirectly.The CCD camera is fixed on the dolly, writes down the movement locus of load with respect to hitch point, through the movement locus of image processing algorithm assumed (specified) load, and the pendulum angle and the angular velocity of further assumed (specified) load.
Advantage of the present invention is big mechanism of car, the trolley body of simulation gantry, the motion of lifting mechanism, by the displacement and the speed of the motion of scrambler measurement cart, moving of car, the motion that hoists, measure the motion and the swing situation of load in real time by camera.The design of this testing table and the dynamics that is built into the research gantry provide reliable test data, to realizing the gantry robotization, reduce accident rate, increase work efficiency, security, reliability has great significance and be worth.
Description of drawings:
Fig. 1 is gantry crane test bed overall plan figure.
Fig. 2 is trolley body transmission scheme figure.
Fig. 3 is a lifting mechanism transmission scheme synoptic diagram.
Fig. 1 is gantry crane test bed overall plan figure: 1, big tramcar motor, 2, the cart shaft coupling, 3, gear, 4, wheel, 5, portal frame, 6, little vehicle seat, 7, sprocket shaft, 8, chain, 9, vehicle guide, 10, dolly, 11, reel, 12, wire rope, 13, fixed pulley, 14, suspension hook.
Fig. 2 is the trolley body transmission diagram: 7, sprocket shaft, 8, chain, 9, vehicle guide, 10, dolly, 15, little tramcar motor, 16, the dolly shaft coupling, 17, sprocket wheel, 18, cart.
Fig. 3 is a lifting mechanism transmission scheme synoptic diagram: 11, reel, 12, wire rope, 13, travelling block, 14, suspension hook, 19, promote motor, 20, fixed pulley, 21, camera.
Embodiment
Big mechanism of car motor 1 rotates by cart shaft coupling 2 driven wheels 3, and the rack-and-pinion transmission drives portal frame 5, cart 18, dolly seat 6 along the cart guide rail movement.Dolly motor 15 is by 7 rotations of dolly shaft coupling 16 driving trolley sprocket shafts, adopt key to be connected between sprocket shaft 7 and the sprocket wheel 17, thereby drive sprocket 17 and trolley body moves, and dolly 10 is fixed on the chain 8, and chain 8 makes dolly 10 move along vehicle guide 9.Lifting mechanism motor 19 rotates by reel 11 drive pulley groups 13 and 20, promotes suspension hook 14 by wire rope 12, thereby lifting load realizes the transportation of load.CCD camera 21 is measured the motion and the swing situation of load in real time, based on the time lag control strategy, effectively eliminates the load swing, the accurate location of realizing load.Testing table of the present invention can accurately be simulated the motion and the load swing characteristic of three great institutions of gantry, is the dynamics of research gantry, realizes that the crane robotization provides reliable test data.
Claims (2)
1. gantry crane test bedly form by big mechanism of car, trolley body, lifting mechanism and kinetic control system.Big mechanism of car adopts rack-and-pinion transmission, wheel walking structure.Big tramcar motor rotates by cart shaft coupling driven wheel, and the rack-and-pinion transmission drives cart along guide rail movement.Trolley body adopts running trolley formula mechanism, and transmission scheme adopts chain transmission.Little tramcar motor is by the rotation of dolly shaft coupling driving trolley mechanism main drive shaft, adopts key to be connected between main drive shaft and the sprocket wheel, drive sprocket, the rotation of trolley body driven shaft, and cart stationary makes dolly move along vehicle guide on chain.Lifting mechanism adopts the transmission scheme of reel and pulley blocks.The lifting mechanism motor rotates by reel drive pulley group, by the rope hoisting suspension hook, thus lifting load.Testing table drives big mechanism of car, trolley body and lifting mechanism operation respectively by cover PC control two cover servo-drive systems and a cover driving system of stepping motor.
2. described gantry crane test bed according to claims 1, it is characterized in that: big mechanism of car adopts rack-and-pinion transmission, wheel walking structure; Trolley body adopts chain transmission, cart stationary on chain, make dolly along vehicle guide along with chain movement; Lifting mechanism has adopted the transmission scheme of reel and pulley blocks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810249688A CN101769827A (en) | 2008-12-31 | 2008-12-31 | Gantry crane test bed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810249688A CN101769827A (en) | 2008-12-31 | 2008-12-31 | Gantry crane test bed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101769827A true CN101769827A (en) | 2010-07-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810249688A Pending CN101769827A (en) | 2008-12-31 | 2008-12-31 | Gantry crane test bed |
Country Status (1)
| Country | Link |
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| CN (1) | CN101769827A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104941217A (en) * | 2015-05-21 | 2015-09-30 | 汶上县驰胜机械有限公司 | Amusement tower crane |
| CN105171620A (en) * | 2015-09-28 | 2015-12-23 | 上海广成涂装技术工程有限公司 | Automatic sand blasting system of three-dimensional mechanical arm |
| CN105800474A (en) * | 2016-05-17 | 2016-07-27 | 无锡石油化工起重机有限公司 | Reinforced gantry crane |
-
2008
- 2008-12-31 CN CN200810249688A patent/CN101769827A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104941217A (en) * | 2015-05-21 | 2015-09-30 | 汶上县驰胜机械有限公司 | Amusement tower crane |
| CN105171620A (en) * | 2015-09-28 | 2015-12-23 | 上海广成涂装技术工程有限公司 | Automatic sand blasting system of three-dimensional mechanical arm |
| CN105800474A (en) * | 2016-05-17 | 2016-07-27 | 无锡石油化工起重机有限公司 | Reinforced gantry crane |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20100707 |