CN102001587A - Ship rotary crane jib laying automatic control method and control device - Google Patents
Ship rotary crane jib laying automatic control method and control device Download PDFInfo
- Publication number
- CN102001587A CN102001587A CN 201010547702 CN201010547702A CN102001587A CN 102001587 A CN102001587 A CN 102001587A CN 201010547702 CN201010547702 CN 201010547702 CN 201010547702 A CN201010547702 A CN 201010547702A CN 102001587 A CN102001587 A CN 102001587A
- Authority
- CN
- China
- Prior art keywords
- arm
- controller
- actuating unit
- spacing
- shelved
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Jib Cranes (AREA)
Abstract
The invention discloses a ship rotary crane jib laying automatic control device, which consists of a selection switch, an angle detection limit, a controller and an executing mechanism, wherein the selection switch is connected with the executing mechanism; and the input end of the controller is connected with the angle detection limit, and the output end of the controller is connected with the executing mechanism. The invention also discloses a ship rotary crane jib laying automatic control method, which comprises the steps that: A, the selection switch sends a working instruction to the executing mechanism; B, the angle detection limit measures the pitch of a jib and outputs data to the controller; C, the controllers runs a built-in program to determine the operation speed of the jib and outputs a running signal to the executing mechanism; D, the executing mechanism drives the jib to be laid according to the running signal; and E, the executing mechanism stops working according to the running signal to accomplish laying. The ship rotary crane jib laying automatic control device and the ship rotary crane jib laying automatic control method provided by the invention realize the automatic control and precise control over the whole jib laying process, so that an operation process is simplified, operation intensity is reduced and safety is improved.
Description
Technical field
The present invention relates to a kind of rotary crane peculiar to vessel, particularly relate to autocontrol method and control setup that rotary crane arm peculiar to vessel is shelved, belong to the hoisting crane technical field.
Background technology
When existing ship was worked with rotary crane, luffing steel rope pull-up arm hoisting heavy when hoisting crane quits work, loosened the luffing steel rope, arm was slowly put down and it is kept flat being held on the support that is fixed on hull.Existing arm is shelved and is manual control, arm by the pull-up state in the motion process that keeps flat the state of shelving, crane driver is constantly adjusted tractive luffing pull of steel wire according to the state of kinematic motion of arm, arm is kept slowly, at the uniform velocity, descend reposefully, its complicated operating process, manipulation strength are very big, especially descend when the driver causes operating accuracy because long-time operation causes fatigue, even might cause serious accident.On the other hand, manually control can not be accomplished accuracy control, arm decline process can not realize slowly fully, at the uniform velocity, steadily, arm rocking swing and can make arm bear bigger travelling load in the decline process, cause influence or destruction to boom structure, particularly arm sets aside to the moment of support, if kinematic velocity that can not strict control arm, the huge momentum that arm produces can produce the huge impact load to support, its antagonistic force may produce bigger destruction to boom structure, and the serious arm that may cause fractures, even the accident that causes casualties, therefore, the manual control mode safety is relatively poor.
The Chinese patent notification number is: CN201358142Y, the day for announcing is: 2009.12.9, name is called " telescopic arm crane automatic control device ", a kind of automatic guidance control setup of hydraulically powered telescopic arm crane is disclosed, comprise station acquisition equipment, control computer, ratio outdevice and actuating unit, during hoisting crane work, control computer is according to the path of motion of the position planning suspension hook of starting point and terminal point, and control executing mechanism is followed the tracks of the path of motion of setting, by the current location of station acquisition equipment actual measurement and the error of pursuit movement track, the path of motion of automatic compensation suspension hook, thus guarantee that the pursuit movement trajectory error is not more than specified value.Though this patent also discloses a kind of telescopic crane boom automatic control device, but this automatic control device is the automatic guidance that is used for hoisting crane when work arm and suspension hook operation, technical matterss such as complicated operating process, the manipulation strength that exists during the automatic guidance that does not relate to process that arm is shelved, also unresolved arm are shelved is big, control accuracy is low, safety is relatively poor.
Summary of the invention
First purpose of the present invention is to overcome existing ship to shelve the arm operation control inaccuracy that exists in the control method with the rotary crane arm, safety is relatively poor, and complicated operating process, manipulation strength is big, and the arm pretension shelve in the process can't accuracy control luffing steel rope the prefastening force value, make the arm pretension shelve the shortcomings and deficiencies that can not reach perfect condition, provide a kind of rotary crane arm peculiar to vessel to shelve autocontrol method, the realization arm is slow, at the uniform velocity, pulsation-free is shelved, the adverse effect that travelling load of effectively avoiding arm to shelve producing in the process and impact load produce boom structure, the accuracy control that realization is shelved the arm pretension, guarantee that the arm that pretension is shelved is in optimal strained condition, and simplify the operating process that arm is shelved, reduce manipulation strength, improve processing safety.
Second purpose of the present invention is to overcome existing ship is shelved existence with the rotary crane arm the technical matters that complicated operating process, manipulation strength are big, safety is relatively poor, the automatic control device that provides a kind of rotary crane arm peculiar to vessel to shelve, the realization arm is shelved the automatic guidance of overall process, simplify the operation course, reduce manipulation strength, improve processing safety.
The present invention realizes that the technical scheme that first purpose adopts is: the autocontrol method that a kind of rotary crane arm peculiar to vessel is shelved, the automatic control device that described autocontrol method adopts is spacing by select switch, angular detection, controller and actuating unit are formed, select switch connects actuating unit, the input end connection angle of controller detects spacing, mouth connects actuating unit, and described autocontrol method comprises:
A. select switch sends work order to actuating unit, and actuating unit drives arm and enters luffing and shelve operating mode and begin and move to the amplification direction;
B. the elevation angle of the spacing measurement arm of angular detection and data are exported to controller;
C. controller is according to the elevation angle of arm, determines the running velocity of arm by the default arm program of shelving, and run signal is exported to actuating unit;
D. the speed of the run signal regulation sent according to controller of actuating unit is loosened the luffing steel rope, drive arm according to the rules speed descend and set aside on the support until arm.
E. actuating unit quits work according to the signal that controller sends, and finishes arm and shelves.
The autocontrol method that a kind of rotary crane arm peculiar to vessel is shelved, among the described step C, the arm program of shelving default in the controller is:
When the elevation angle of arm stops spacing less than amount of decrease and during greater than amplification limit position, the arm running velocity is 2 times of command speves;
When the elevation angle of arm smaller or equal to amplification limit position and greater than 10 ° of arms when spacing, the arm running velocity is a command speed;
When the elevation angle of arm spacing and greater than slowing down near rest stand when spacing, the running velocity of arm is 20% of a command speed smaller or equal to 10 ° of arms;
When the elevation angle of arm smaller or equal to slowing down spacing near rest stand and stopping when spacing greater than shelving to put on the shelf, the running velocity of arm is 5% of a command speed;
Stop when spacing when the elevation angle of arm equals to shelve to put on the shelf, the running velocity of actuating unit is 2% of a command speed.
The autocontrol method that a kind of rotary crane arm peculiar to vessel is shelved, it is 85 °～75 ° that described amount of decrease stops spacing, described amplification limit position is 55 °～58 °, 10 ° of described jibs are spacing to be 8 °～10 °, it is 2 °～5 ° that described rest stand slows down spacing, and described shelving puts that to stop spacing be 0 ° on the shelf.
The autocontrol method that a kind of rotary crane arm peculiar to vessel is shelved, described automatic control device also comprises the pulling force sensor of measuring the luffing lineoutofservice signal pull, the signal output part of pulling force sensor is connected on the input end of controller, also further may further comprise the steps in the step e of described autocontrol method:
E1. after arm was shelved on the support, pulling force sensor began to measure luffing lineoutofservice signal pull value and gives controller with quantitative data input;
E2. controller is according to the actual value of thrust of luffing steel rope, determines the service direction of actuating unit by the default arm pretension program of shelving, and run signal is exported to actuating unit.
E3. the run signal sent according to controller of actuating unit is loosened or is strained the luffing steel rope, when luffing pull of steel wire value equals predefined prefastening force value, controller sends silence signal to actuating unit, and actuating unit quits work, and finishes arm and shelves.
The autocontrol method that a kind of rotary crane arm peculiar to vessel is shelved, in the described step e 2, the arm pretension program of shelving is:
Controller is the actual value of thrust and the prefastening force value of luffing steel rope relatively, and when the actual value of thrust of luffing steel rope during greater than the prefastening force value, controller sends the signal that just relays loose luffing steel rope to actuating unit;
When the actual value of thrust of luffing steel rope during less than the prefastening force value, controller sends the signal of counter-rotating tension luffing steel rope to actuating unit;
When the actual value of thrust of luffing steel rope equaled the prefastening force value, controller sent silence signal to actuating unit.
The present invention realizes that second technical scheme that purpose adopted is: the automatic control device that a kind of rotary crane arm peculiar to vessel is shelved, comprise hoisting crane upper frame, assembly pulley, luffing steel rope, arm and support, it is characterized in that: described automatic control device is spacing by select switch, angular detection, controller and actuating unit are formed:
Select switch is connected with actuating unit, is used for sending work order to actuating unit;
Angular detection is spacing to be connected with the input end of controller, is used to measure the data at the arm elevation angle and inputs to controller;
The input end connection angle of controller detects spacing, and mouth connects actuating unit, is used to receive take off data and determines arm speed according to pre-set programs, and send run signal to actuating unit;
Actuating unit connects the mouth of select switch and controller, is used for the run signal that the work order of sending according to select switch and controller send and drives the arm operation.
The automatic control device that a kind of rotary crane arm peculiar to vessel is shelved, the spacing hinged place that is positioned at arm and rotating platform of crane of described angular detection, the spacing one group of inhibiting device forming by five angular detection inhibiting device of described angular detection.
The automatic control device that a kind of rotary crane arm peculiar to vessel is shelved, described select switch comprises mode enable switch and luffing select switch, and described mode enable switch is used to select the arm operating mode, and described luffing select switch is used to select arm luffing direction.
The automatic control device that a kind of rotary crane arm peculiar to vessel is shelved, described automatic control device also comprises pulling force sensor, the signal output part of described pulling force sensor is connected with the input end of controller, be used to measure luffing lineoutofservice signal pull Value Data and input controller, determine the foundation of the motor message of arm as controller.
The automatic control device that a kind of rotary crane arm peculiar to vessel is shelved, described pulling force sensor are positioned on the bearing pin of last group pulley at the hoisting crane upper frame place that the luffing steel rope walks around.
Compared with prior art, beneficial effect of the present invention is:
1. realized that arm shelves the automatic guidance of overall process, the driver does not need to observe the running condition of arm in the whole operation process, more need not constantly to adjust operation according to the practical operation situation of arm, only need before shelving beginning, arm the input service instruction get final product, simplify arm effectively and shelved operating process, reduced manipulation strength, improved processing safety.
2. realized arm slowly, at the uniform velocity, pulsation-free shelves, and effectively avoided manual control to shelve mode, makes arm produce bigger travelling load and impact load in the process of shelving, boom structure is had a negative impact.
3. realize automatic, accuracy control that the arm pretension is shelved, guaranteed that the arm that pretension is shelved is in optimal strained condition, and simplified pretension and shelved operating process, reduced manipulation strength.
Description of drawings
Fig. 1 is the schematic diagram that the present invention's rotary crane arm peculiar to vessel is shelved autocontrol method.
Fig. 2 is the structure erection plan that the present invention's rotary crane arm peculiar to vessel is shelved automatic control device.
Fig. 3 is the variation of the arm of the present invention elevation angle and shelves spacing scheme drawing.
Among the figure: select switch 1, mode enable switch 2, luffing select switch 3, controller 4, actuating unit 5, luffing steel rope 6, arm 7, angular detection is spacing 8, pulling force sensor 9, support 10.
The specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Referring to Fig. 1, the present invention's rotary crane arm peculiar to vessel is shelved the schematic diagram of autocontrol method, and automatic control device is spacing 8 by select switch 1, angular detection, controller 4 and actuating unit 5 are formed.Wherein, select switch 1 is connected with actuating unit 5, be used for sending work order to actuating unit 5, angular detection spacing 8 is connected with the input end of controller 4, be used to measure the elevation data of arm 7 and input to controller 4, the input end connection angle of controller 4 detects spacing 8, mouth connects actuating unit 5, be used to receive take off data and determine arm speed according to pre-set programs, and send run signal to actuating unit 5, actuating unit 5 connects the mouth of select switches 1 and controller 4, is used for the run signal that the work order of sending according to select switch 1 and controller 4 send and drives arm 7 operations.
Select switch 1 is installed on the operating console of hoisting crane, can comprise mode enable switch 2 and luffing select switch 3.Mode enable switch 2 is used to select the arm operating mode, be provided with " normally " and " shelving " two switch gears, " normally " makes operating mode for crane operator, the elevation angle of arm 7 only amount of decrease stop spacing and amplification limit position between change, and can not be less than amplification limit position; " shelve " to crane arm and shelve operating mode, the elevation angle of arm 7 can be less than amplification limit position until zero degree.Luffing select switch 3 is used to select arm luffing direction, is provided with " amplification " and " amount of decrease " two switch gears.
Angular detection spacing 8 is positioned at the hinged place of arm 7 and rotating platform of crane, one group of inhibiting device forming by five angular detection inhibiting device, the trigger value of its five angular detection inhibiting device is set at the critical value that the arm luffing is shelved interval, the elevation angle in the process respectively, promptly is set at: amount of decrease stop 10 ° of spacing, amplification limit positions, arm spacing, near rest stand slow down spacing, shelve put on the shelf stop spacing.
Controller 4 can be computing machine, also can be chip, has information input, information output, the information processing function.Be provided with arm in the controller 4 and shelve control program, the principle of this program is to determine the arm running velocity according to the arm elevation angle, and the elevation angle is more little, and the running velocity of arm 7 is low more.Controller 4 receiving angles detect the spacing 8 arm elevation data of measuring, and automatic running program is determined the running velocity of arm, and running speed signal is exported to actuating unit 5.
Actuating unit 5 can be hydraulic wireline winch or electric winch for driving the winch of arm operation.Actuating unit 5 receives the run signal of controller 4 inputs, and drives the arm operation according to the signal regulation.
Referring to Fig. 1, the automatic control device that the arm of rotary crane peculiar to vessel provided by the invention is shelved can also comprise pulling force sensor 9.Pulling force sensor 9 is positioned on the bearing pin of last group pulley at the hoisting crane upper frame place that luffing steel rope 6 walks around, and is used to measure luffing steel rope 6 value of thrust data.Last group pulley at hoisting crane upper frame place is meant, luffing steel rope 6 is walked around behind this group pulley on the direct wraparound winch, and no longer around the assembly pulley to crane arm.Pulling force sensor 9 is connected with the input end of controller 4, and with the tension value data input controller 4 of the luffing steel rope 6 measured.Also be provided with the arm pretension in the controller 4 and shelve program, the principle of this program is by the actual value of thrust that compares luffing steel rope 6 and the difference of predefined prefastening force value, determine the direction whether actuating unit 5 moves and move, and run signal exported to actuating unit, control executing mechanism 5 signal operation according to the rules.
Rotary crane arm peculiar to vessel provided by the invention is shelved automatic control device, realized that arm shelves the automatic guidance of overall process, the driver does not need to observe the running condition of arm in the whole operation process, more need not constantly to adjust operation according to the practical operation situation of arm, only need be before arm be shelved beginning the input luffing shelve the work order that moves with amplification and get final product, the arm elevation angle that controller is promptly measured according to the angular detection inhibiting device is moved arm automatically and is shelved program, determine arm running velocity and direction, and automatic guidance actuating unit run signal operation according to the rules, the whole operation process is carried out automatically, need not manual intervention, simplify arm effectively and shelved operating process, reduced manipulation strength, and improved arm and shelved the accuracy rate of operation, guaranteed processing safety.
Rotary crane arm peculiar to vessel provided by the invention is shelved autocontrol method, may further comprise the steps:
At first select " luffing is shelved ", luffing select switch 3 to select " amplification operation " by mode enable switch 2, and send corresponding work to actuating unit 5 and instruct, actuating unit 5 brings into operation according to the indication of work order, arm 7 enters " luffing is shelved " operating mode, and beginning is moved to the amplification direction;
When arm 7 began to shelve operation, angular detection spacing 8 began to measure arm 7 elevation data.When the arm elevation angle stops spacing less than amount of decrease and during greater than amplification limit position, first inhibiting device of angular detection spacing 8 triggers, controller 4 determines that the position of arm 7 is in the normal operation interval, determine that according to pre-set programs arm 7 moves with the two-fold command speed, and run signal exported to actuating unit 5, control executing mechanism 5 speed drive arm 7 operations according to the rules;
When arm 7 drops to the elevation angle and equals amplification limit position, second inhibiting device of angular detection spacing 8 triggers, and with signal input controller 4, controller 4 is according to arm 7 elevation value, determine that according to pre-set programs arm 7 moves according to command speed, and run signal exported to actuating unit 5, control executing mechanism 5 speed drive arm 7 operations according to the rules;
When continuing to drop to the elevation angle, arm 7 equals 10 ° of arms when spacing, the 3rd inhibiting device of angular detection spacing 8 triggers, and with signal input controller 4, controller 4 is according to arm 7 elevation value, determine that according to pre-set programs arm 7 is according to the operation of 20% command speed, and run signal exported to actuating unit 5, control executing mechanism 5 speed drive arm 7 operations according to the rules;
When continuing to drop to the elevation angle, arm 7 equals to slow down when spacing near rest stand, the 4th inhibiting device of angular detection spacing 8 triggers, and with signal input controller 4, controller 4 is according to arm 7 elevation value, determine that according to pre-set programs arm 7 is according to the operation of 5% command speed, and run signal exported to actuating unit 5, control executing mechanism 5 speed drive arm 7 operations according to the rules;
Equal to shelve to put on the shelf and stop when spacing when arm 7 continues to drop to the elevation angle, the 5th inhibiting device of angular detection spacing 8 triggers, and with signal input controller 4, this moment, arm 7 was shelved on the support 10, but luffing steel rope 6 still is in tension, controller 4 is according to arm 7 elevation value, determine that according to pre-set programs actuating unit 5 moves according to 2% command speed, and run signal exported to actuating unit 5, control executing mechanism 5 speed is according to the rules loosened luffing steel rope 6, send out-of-work signal up to controller 4, actuating unit is out of service, finishes arm and shelves.
Rotary crane arm peculiar to vessel provided by the invention is shelved autocontrol method, and relating to parameters such as the hoisting capacity of interval critical value in the arm elevation angle and hoisting crane, radius of turn, lifting amplitude can be determined critical value according to the concrete correlation parameter of hoisting crane.The interval critical value in the arm elevation angle can be following numerical value: it is 85 °～75 ° that described amount of decrease stops spacing, amplification limit position is 57 °, 10 ° of described jibs are spacing to be 10 °, and it is 2 °～5 ° that described rest stand slows down spacing, described shelve to put on the shelf stop spacingly should be 0 °.
Rotary crane arm peculiar to vessel provided by the invention is shelved autocontrol method, utilize Automatic Control Theory, realized that arm shelves the automatic guidance of overall process, simplify arm effectively and shelved operating process, reduced manipulation strength, employed arm is shelved control program, its principle has adopted according to boom position determines the arm running velocity, arm at its operational process medium velocity first quick and back slow, be in the continuous variation, both guaranteed that arm shelved efficient work and carry out, avoided arm near support the time, to cause destruction to boom structure again because of bearing bigger impact load, guaranteed that arm shelves process safety, carry out reposefully, realized that efficient and secure synchronization promote.
During rotary crane inoperative peculiar to vessel, the state of shelving of arm can have two kinds: a kind of is that the luffing steel rope loosens fully, arm is shelved on the state of shelving on the support, another kind is that the luffing steel rope is implemented certain prefastening force to arm but arm still is shelved on the state of shelving on the support, and promptly the arm pretension is shelved state.Adopt the arm pretension to shelve state, can increase the strong point of arm, the distortion and the displacement of restriction arm reduce to rock alternation load that arm is produced and the impact load destruction to boom structure because of hull jolts, improve the stressing conditions of arm, the arm that is specially adapted to deck crane is shelved.Determining of the prefastening force value that rotary crane employing arm pretension peculiar to vessel is shelved is relevant with the hoisting crane correlation parameter, and the hoisting crane deadweight is big more, arm is long more, hull jolts, and the degree of rocking is big more, and the prefastening force value of arm is big more.The prefastening force value of arm can be selected 50KN for use.
When adopting the luffing steel rope, loosens fully the arm of rotary crane peculiar to vessel, arm be shelved on the support shelve state the time, rotary crane arm peculiar to vessel provided by the invention is shelved in the autocontrol method, equal to shelve to put on the shelf and stop when spacing when arm 7 drops to the elevation angle, controller 4 determines that arm 7 moves according to 2% command speed, and run signal exported to actuating unit 5, control executing mechanism 5 speed is according to the rules loosened luffing steel rope 6, value of thrust up to luffing steel rope 6 equals zero, that is to say when luffing steel rope 6 loosens fully, actuating unit is out of service, finishes arm and shelves.
When adopting the arm pretension to shelve state, rotary crane arm peculiar to vessel provided by the invention is shelved in the autocontrol method, the automatic control device that uses also comprises the pulling force sensor 9 on the input end that is connected controller 4, and described autocontrol method is further comprising the steps of:
After arm 7 was shelved on the support 10, pulling force sensor 9 began to measure the value of thrust of luffing steel rope 6 and gives controller 4 with quantitative data input.Controller 4 receiving data informations, move the arm pretension automatically and shelve program, determine the direction whether actuating unit 5 moves and move, and send run signal to actuating unit 5, control executing mechanism 5 is according to the operation of signal regulation.The described arm pretension program of shelving is: controller 4 compares the actual value of thrust of luffing steel rope 6 and the difference of prefastening force value, when the actual value of thrust of luffing steel rope 6 during greater than the prefastening force value, controller 4 sends the signal that loosens luffing steel rope 6 to actuating unit 5; When the actual value of thrust of luffing steel rope 6 during less than the prefastening force value, controller 4 sends the signal of inverted running tension luffing steel rope 6 to actuating unit 5; When the actual value of thrust of luffing steel rope 6 equaled the prefastening force value, controller 4 sent out-of-work signal to actuating unit 5, finished the arm pretension and shelved process.
The autocontrol method that rotary crane arm pretension peculiar to vessel provided by the invention is shelved, both realized the automatic guidance that the arm pretension is shelved, simplify operating process, reduced manipulation strength, realized the accurate pretension to arm again, the arm that pretension is shelved is in ideal strained condition.
In conjunction with the accompanying drawings embodiments of the invention are specified above, but the present invention is not limited to the foregoing description, in the ken that those of ordinary skills possessed, can also makes various variations not breaking away under the aim prerequisite of the present invention.
Claims (10)
1. autocontrol method that rotary crane arm peculiar to vessel is shelved, it is characterized in that: the automatic control device that described autocontrol method adopts is made up of select switch (1), angular detection spacing (8), controller (4) and actuating unit (5), select switch (1) connects actuating unit (5), the input end connection angle of controller (4) detects spacing (8), mouth connects actuating unit (5), and described autocontrol method comprises:
A. select switch (1) sends work order to actuating unit (5), and actuating unit (5) drives arm (7) and enters luffing and shelve operating mode and begin and move to the amplification direction;
B. angular detection spacing (8) is measured the elevation angle of arm (7) and data is exported to controller (4);
C. controller (4) is according to the elevation angle of arm (7), determines the running velocity of arm (7) by the default arm program of shelving, and run signal is exported to actuating unit (5);
D. the speed of the run signal regulation sent according to controller (4) of actuating unit (5) is loosened luffing steel rope (6), drive arm (7) according to the rules speed descend and set aside on the support (10) until arm (7);
E. actuating unit (5) quits work according to the signal that controller (4) sends, and finishes arm and shelves.
2. the autocontrol method that rotary crane arm peculiar to vessel according to claim 1 is shelved is characterized in that: among the described step C, the arm program of shelving default in the controller (4) is:
When the elevation angle of arm (7) stops spacing less than amount of decrease and during greater than amplification limit position, arm (7) running velocity is 2 times of command speves;
When the elevation angle of arm (7) smaller or equal to amplification limit position and greater than 10 ° of arms when spacing, arm (7) running velocity is a command speed;
When the elevation angle of arm (7) spacing and greater than slowing down near rest stand when spacing, the running velocity of arm (7) is 20% of a command speed smaller or equal to 10 ° of arms;
When the elevation angle of arm (7) smaller or equal to slowing down spacing near rest stand and stopping when spacing greater than shelving to put on the shelf, the running velocity of arm (7) is 5% of a command speed;
Stop when spacing when the elevation angle of arm (7) equals to shelve to put on the shelf, the running velocity of actuating unit (5) is 2% of a command speed.
3. the autocontrol method that rotary crane arm peculiar to vessel according to claim 2 is shelved, it is characterized in that: it is 85 °～75 ° that described amount of decrease stops spacing, described amplification limit position is 55 °～58 °, 10 ° of described jibs are spacing to be 8 °～10 °, it is 2 °～5 ° that described rest stand slows down spacing, and described shelving puts that to stop spacing be 0 ° on the shelf.
4. the autocontrol method that rotary crane arm peculiar to vessel according to claim 1 is shelved, it is characterized in that: described automatic control device also comprises the pulling force sensor (9) of measuring luffing steel rope (6) pulling force, the signal output part of pulling force sensor (9) is connected on the input end of controller (4), also further may further comprise the steps in the step e of described autocontrol method:
E1. after arm (7) was shelved on the support (10), pulling force sensor (9) began to measure luffing steel rope (6) value of thrust and gives controller (4) with quantitative data input;
E2. controller (4) is according to the actual value of thrust of luffing steel rope (6), determines the service direction of actuating unit (5) by the default arm pretension program of shelving, and run signal is exported to actuating unit (5);
E3. the run signal sent according to controller (4) of actuating unit (5) is loosened or is strained luffing steel rope (6), when the value of thrust of luffing steel rope (6) equals predefined prefastening force value, controller (4) sends silence signal to actuating unit (5), actuating unit (5) quits work, and finishes arm and shelves.
5. the autocontrol method that rotary crane arm peculiar to vessel according to claim 4 is shelved is characterized in that: in the described step e 2, the arm pretension program of shelving default in the controller (4) is:
Controller (4) is the actual value of thrust and the prefastening force value of luffing steel rope (6) relatively, when the actual value of thrust of luffing steel rope (6) during greater than the prefastening force value, controller (4) sends the signal that just relays loose luffing steel rope (6) to actuating unit (5);
When the actual value of thrust of luffing steel rope (6) during less than the prefastening force value, controller (4) sends the signal of counter-rotating tension luffing steel rope (6) to actuating unit (5);
When the actual value of thrust of luffing steel rope (6) equaled the prefastening force value, controller (4) sent silence signal to actuating unit (5).
6. automatic control device that rotary crane arm peculiar to vessel is shelved, comprise hoisting crane upper frame, assembly pulley, luffing steel rope (6), arm (7) and support (10), it is characterized in that: described automatic control device is made up of select switch (1), angular detection spacing (8), controller (4) and actuating unit (5):
Select switch (1) is connected with actuating unit (5), is used for sending work order to actuating unit (5);
Angular detection spacing (8) is connected with the input end of controller (4), is used to measure the data at arm (7) elevation angle and inputs to controller (4);
The input end connection angle of controller (4) detects spacing (8), and mouth connects actuating unit (5), is used to receive take off data and determines arm speed according to pre-set programs, and send run signal to actuating unit (5);
Actuating unit (5) connects the mouth of select switch (1) and controller (4), is used for run signal that the work order of sending according to select switch (1) and controller (4) send and drives arm (7) and move.
7. the automatic control device that rotary crane arm peculiar to vessel according to claim 6 is shelved, it is characterized in that: described angular detection spacing (8) is positioned at the hinged place of arm (7) and rotating platform of crane, one group of inhibiting device that described angular detection spacing (8) is made up of five angular detection inhibiting device.
8. the automatic control device that rotary crane arm peculiar to vessel according to claim 6 is shelved, it is characterized in that: described select switch (1) comprises mode enable switch (2) and luffing select switch (3), described mode enable switch (2) is used to select the arm operating mode, and described luffing select switch (3) is used to select arm luffing direction.
9. the automatic control device that rotary crane arm peculiar to vessel according to claim 6 is shelved, it is characterized in that: described automatic control device also comprises pulling force sensor (9), the signal output part of described pulling force sensor (9) is connected with the input end of controller (4), be used to measure luffing steel rope (6) value of thrust data and input controller (4), determine the foundation of the motor message of arm (7) as controller (4).
10. the automatic control device that rotary crane arm peculiar to vessel according to claim 9 is shelved is characterized in that: described pulling force sensor (9) is positioned on the bearing pin of last group pulley at the hoisting crane upper frame place that luffing steel rope (6) walks around.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105477023A CN102001587B (en) | 2010-11-17 | 2010-11-17 | Automatic control method and control device for ship rotary crane jib laying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105477023A CN102001587B (en) | 2010-11-17 | 2010-11-17 | Automatic control method and control device for ship rotary crane jib laying |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102001587A true CN102001587A (en) | 2011-04-06 |
| CN102001587B CN102001587B (en) | 2012-02-15 |
Family
ID=43809338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105477023A Expired - Fee Related CN102001587B (en) | 2010-11-17 | 2010-11-17 | Automatic control method and control device for ship rotary crane jib laying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102001587B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101983894A (en) * | 2010-11-17 | 2011-03-09 | 武汉船用机械有限责任公司 | Pretension and lay-off method and device of crane jib for ship |
| WO2013044520A1 (en) * | 2011-09-30 | 2013-04-04 | 长沙中联重工科技发展股份有限公司 | Oil cylinder luffing jib, linear speed control method and apparatus therefor |
| CN103663213A (en) * | 2013-12-12 | 2014-03-26 | 中联重科股份有限公司 | Tower crane jib-dropping prevention monitoring device and method as well as tower crane |
| CN105278430A (en) * | 2015-11-17 | 2016-01-27 | 湖南五新隧道智能装备股份有限公司 | Jib control system and concrete gunniting vehicle |
| CN105384090A (en) * | 2014-08-20 | 2016-03-09 | 利勃海尔-韦尔克埃英根有限公司 | Automatic erecting of a crane |
| CN112607603A (en) * | 2020-12-18 | 2021-04-06 | 武汉港迪电气有限公司 | Control system for switching functions of multi-working-condition lifting appliance of multifunctional lifting equipment for ship unloading |
| CN113184724A (en) * | 2021-03-16 | 2021-07-30 | 江苏政田重工股份有限公司 | Marine crane and safe operation and energy-saving control method thereof |
| CN113184723A (en) * | 2021-03-16 | 2021-07-30 | 江苏政田重工股份有限公司 | Hoisting limiting device of marine crane and setting method thereof |
| CN113706453A (en) * | 2021-07-09 | 2021-11-26 | 武汉船用机械有限责任公司 | Semi-physical training method and device for deck crane and server |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3917074A (en) * | 1972-12-19 | 1975-11-04 | Jean Havard | Control device for hoisting machines |
| CN1107119A (en) * | 1994-07-22 | 1995-08-23 | 中国水利水电长江葛洲坝工程局施工科研所 | Computer control method for cable crane system |
| WO2004106215A1 (en) * | 2003-05-30 | 2004-12-09 | Liebherr-Werk Nenzing Gmbh | Crane or excavator for handling a cable-suspended load provided with optimised motion guidance |
| CN1699134A (en) * | 2004-05-13 | 2005-11-23 | 黄卫华 | Continuous unloading machine for container |
| WO2009036456A2 (en) * | 2007-09-14 | 2009-03-19 | Goodcrane Corporation | Motion compensation system |
| CN201358142Y (en) * | 2009-02-25 | 2009-12-09 | 中国船舶重工集团公司第七一三研究所 | Automatic control system for telescopic crane |
-
2010
- 2010-11-17 CN CN2010105477023A patent/CN102001587B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3917074A (en) * | 1972-12-19 | 1975-11-04 | Jean Havard | Control device for hoisting machines |
| CN1107119A (en) * | 1994-07-22 | 1995-08-23 | 中国水利水电长江葛洲坝工程局施工科研所 | Computer control method for cable crane system |
| WO2004106215A1 (en) * | 2003-05-30 | 2004-12-09 | Liebherr-Werk Nenzing Gmbh | Crane or excavator for handling a cable-suspended load provided with optimised motion guidance |
| CN1699134A (en) * | 2004-05-13 | 2005-11-23 | 黄卫华 | Continuous unloading machine for container |
| WO2009036456A2 (en) * | 2007-09-14 | 2009-03-19 | Goodcrane Corporation | Motion compensation system |
| CN201358142Y (en) * | 2009-02-25 | 2009-12-09 | 中国船舶重工集团公司第七一三研究所 | Automatic control system for telescopic crane |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101983894A (en) * | 2010-11-17 | 2011-03-09 | 武汉船用机械有限责任公司 | Pretension and lay-off method and device of crane jib for ship |
| WO2013044520A1 (en) * | 2011-09-30 | 2013-04-04 | 长沙中联重工科技发展股份有限公司 | Oil cylinder luffing jib, linear speed control method and apparatus therefor |
| CN103663213A (en) * | 2013-12-12 | 2014-03-26 | 中联重科股份有限公司 | Tower crane jib-dropping prevention monitoring device and method as well as tower crane |
| CN103663213B (en) * | 2013-12-12 | 2016-03-23 | 中联重科股份有限公司 | The anti-fall arm control monitor unit of tower machine, method and tower crane |
| CN105384090B (en) * | 2014-08-20 | 2018-11-30 | 利勃海尔-韦尔克埃英根有限公司 | The auto-erecting of crane |
| CN105384090A (en) * | 2014-08-20 | 2016-03-09 | 利勃海尔-韦尔克埃英根有限公司 | Automatic erecting of a crane |
| CN105278430B (en) * | 2015-11-17 | 2018-07-20 | 湖南五新隧道智能装备股份有限公司 | A kind of arm support control system and concrete spraying vehicle |
| CN105278430A (en) * | 2015-11-17 | 2016-01-27 | 湖南五新隧道智能装备股份有限公司 | Jib control system and concrete gunniting vehicle |
| CN112607603A (en) * | 2020-12-18 | 2021-04-06 | 武汉港迪电气有限公司 | Control system for switching functions of multi-working-condition lifting appliance of multifunctional lifting equipment for ship unloading |
| CN113184724A (en) * | 2021-03-16 | 2021-07-30 | 江苏政田重工股份有限公司 | Marine crane and safe operation and energy-saving control method thereof |
| CN113184723A (en) * | 2021-03-16 | 2021-07-30 | 江苏政田重工股份有限公司 | Hoisting limiting device of marine crane and setting method thereof |
| CN113184724B (en) * | 2021-03-16 | 2023-12-05 | 江苏政田重工股份有限公司 | Marine crane and safe operation and energy-saving control method thereof |
| CN113184723B (en) * | 2021-03-16 | 2024-02-23 | 江苏政田重工股份有限公司 | Hoisting limiting device of marine crane and setting method thereof |
| CN113706453A (en) * | 2021-07-09 | 2021-11-26 | 武汉船用机械有限责任公司 | Semi-physical training method and device for deck crane and server |
| CN113706453B (en) * | 2021-07-09 | 2024-03-05 | 武汉船用机械有限责任公司 | Semi-physical training method and device for deck crane and server |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102001587B (en) | 2012-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102001587B (en) | Automatic control method and control device for ship rotary crane jib laying | |
| CN102718147A (en) | Hook motion control mechanism and tower crane | |
| AU2016372743B2 (en) | Multi-rope cooperative control system testbed of ultradeep mine hoist | |
| CN108358082B (en) | Intelligent tower crane system with self-learning function | |
| CN109577676A (en) | A kind of Cantilever Beams intelligence provision for disengagement and its method for dismounting | |
| CN101934989A (en) | Dynamic balance building tower crane | |
| CN103879904B (en) | Ocean crane ship and moving method thereof | |
| EP2927177B1 (en) | Method and arrangement for controlling a crane | |
| CN103043533B (en) | Crane and control method thereof | |
| CN203382396U (en) | Control system for extending suspension arm and winding and unwinding winch steel wire rope and crane | |
| CN103879905B (en) | Formula floating-crane ship and moving method thereof is moved after jib | |
| CN202729663U (en) | Superlift counterweight luffing system and crane | |
| CN203781695U (en) | Boom backward-movement type floating crane ship | |
| CN209265240U (en) | A kind of rolling machine adaptive control system of hydraulic grab | |
| CN202744238U (en) | Automatic balance control tower type crane | |
| CN108383018A (en) | A kind of arm-folding crane Weighting system and its control method | |
| CN202766182U (en) | Electric hydraulic control rope blocking device | |
| CN202785405U (en) | Electric control moving type balance weight mechanism | |
| CN108755445A (en) | Bridge Rotation Construction Technique long-range control method based on PLC | |
| CN114014164A (en) | Vertical control system and control method for crane hook | |
| CN201087200Y (en) | Auxiliary gun for revolving furnace | |
| CN210084762U (en) | Single-boom crane | |
| CN105060147A (en) | Limiting device for crane boom | |
| CN113135512A (en) | Crane boom monitoring method, device and system and crane | |
| CN203855311U (en) | Windproof controlling system for crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: QINGDAO HAIXI HEAVY-DUTY MACHINERY CO., LTD. Free format text: FORMER OWNER: WUHAN MARINE MACHINERY PLANT CO., LTD. Effective date: 20120216 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 430084 WUHAN, HUBEI PROVINCE TO: 266530 QINGDAO, SHANDONG PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20120216 Address after: 266530 Shandong province Qingdao city Huangdao District Xuejiadao Bay after No. 190 Patentee after: Qingdao Haixi Heavy-Duty Machinery Co., Ltd. Address before: 430084 Hubei Province, Wuhan City Qingshan District Wu Street No. nine Patentee before: Wuhan Ship Machine Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120215 Termination date: 20171117 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |