CN103287975B - Hoisting crane compound motion control method - Google Patents

Hoisting crane compound motion control method Download PDF

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Publication number
CN103287975B
CN103287975B CN201310146614.6A CN201310146614A CN103287975B CN 103287975 B CN103287975 B CN 103287975B CN 201310146614 A CN201310146614 A CN 201310146614A CN 103287975 B CN103287975 B CN 103287975B
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China
Prior art keywords
reel
suspender
compound motion
sides
drive motor
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CN201310146614.6A
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Chinese (zh)
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CN103287975A (en
Inventor
李海波
饶京川
宋志国
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交通运输部水运科学研究所
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Priority to CN201310146614.6A priority Critical patent/CN103287975B/en
Publication of CN103287975A publication Critical patent/CN103287975A/en
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Publication of CN103287975B publication Critical patent/CN103287975B/en

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Abstract

The invention provides a kind of hoisting crane compound motion control method, comprise: in the bottom of the door frame left and right sides of hoisting crane, reel is set respectively, equal lay winding wire ropes on each described reel, one end of each described steel rope is corresponding in turn to fixed pulley, the movable pulley on suspender of walking around dolly on described door frame, and is fixedly connected with described dolly; By controlling the rotary state of reel described in the left and right sides, controlling dolly and lifting appliance moving, to make suspender, two-dimentional compound motion occurring.Hoisting crane compound motion control method provided by the invention, suspender compound motion in two-dimensional space can be made, this compound motion can be decomposed into up-and-down movement and side-to-side movement, the path of compound motion is less than the path sum of up-and-down movement and side-to-side movement, therefore, compound motion is adopted to improve the work efficiency of suspender.

Description

Hoisting crane compound motion control method
Technical field
The present invention relates to hoisting crane technical field, particularly relate to a kind of hoisting crane compound motion control method.
Background technology
Along with the development of Chinese national economy and the growth of international trade, China's Container Transport development is very fast.Container handling crane general at present generally comprises door frame, by parallel orbit installation carriage on door frame, installs actuating device and connects suspender, install independent actuating device to drive the movement of dolly simultaneously on trolley frame above trolley frame.Visible, existing container handling crane drives the movement of dolly and the up-and-down movement of suspender respectively by the independent actuating device of two covers, this kind of structure cause container handling crane to be conducted oneself with dignity and scantling of structure all larger.For solving the problem that container handling crane is conducted oneself with dignity and scantling of structure is all larger, and occurred four winding drum hoisting crane, the hoisting crane of this form drives the movement of dolly and the up-and-down movement of suspender by four reels being arranged in both sides, door frame bottom.Existing four winding drum hoisting crane can only carry out independent perpendicular movement or horizontal motion, and can not carry out compound motion, causes work efficiency lower.
Summary of the invention
Provide hereinafter about brief overview of the present invention, to provide about the basic comprehension in some of the present invention.Should be appreciated that this general introduction is not summarize about exhaustive of the present invention.It is not that intention determines key of the present invention or pith, and nor is it intended to limit the scope of the present invention.Its object is only provide some concept in simplified form, in this, as the preorder in greater detail discussed after a while.
The invention provides a kind of hoisting crane compound motion control method, after adopting four winding drum control technology to realize container handling crane complete machine lightness in order to solution, suspender can not carry out compound motion, ineffective problem, make four winding drum hoisting crane under the prerequisite reducing equipment investment and maintenance cost, there is higher work efficiency.
The invention provides a kind of hoisting crane compound motion control method, comprising:
Arrange reel respectively in the bottom of the door frame left and right sides of hoisting crane, equal lay winding wire ropes on each described reel, one end of each described steel rope is corresponding in turn to fixed pulley, the movable pulley on suspender of walking around dolly on described door frame, and is fixedly connected with described dolly;
By controlling the rotary state of reel described in the left and right sides, controlling described dolly and described lifting appliance moving, to make described suspender, two-dimentional compound motion occurring.
Hoisting crane compound motion control method provided by the invention, suspender compound motion in two-dimensional space can be made, this compound motion can be decomposed into up-and-down movement and side-to-side movement, the path of compound motion is less than the path sum of up-and-down movement and side-to-side movement, therefore, compound motion is adopted to improve the work efficiency of suspender.
Accompanying drawing explanation
Below with reference to the accompanying drawings illustrate embodiments of the invention, above and other objects, features and advantages of the present invention can be understood more easily.Parts in accompanying drawing are just in order to illustrate principle of the present invention.In the accompanying drawings, same or similar technical characteristic or parts will adopt same or similar Reference numeral to represent.
The hoisting crane schematic diagram of hoisting crane compound motion control method of Fig. 1 for realizing the embodiment of the present invention and providing.
Description of reference numerals:
Reel-1; Change speed gear box-2; Steel rope-3;
Drive motor-4; Pulley-5; Movable pulley-6;
Movable pulley-7; Suspender-8.
Detailed description of the invention
With reference to the accompanying drawings embodiments of the invention are described.The element described in an accompanying drawing of the present invention or a kind of embodiment and feature can combine with the element shown in one or more other accompanying drawing or embodiment and feature.It should be noted that for purposes of clarity, accompanying drawing and eliminate expression and the description of unrelated to the invention, parts known to persons of ordinary skill in the art and process in illustrating.
The embodiment of the present invention provides a kind of hoisting crane compound motion control method, comprise: in the bottom of the door frame left and right sides of hoisting crane, reel is set respectively, equal lay winding wire ropes on each reel, one end of each steel rope is corresponding in turn to fixed pulley, the movable pulley on suspender of walking around dolly on door frame, and is fixedly connected with dolly; By controlling the rotary state of left and right sides reel, controlling dolly and lifting appliance moving, to make suspender, two-dimentional compound motion occurring.
Hoisting crane compound motion control method provided by the invention, suspender compound motion in two-dimensional space can be made, this compound motion can be decomposed into up-and-down movement and side-to-side movement, the path of compound motion is less than the path sum of up-and-down movement and side-to-side movement, therefore, compound motion is adopted to improve the work efficiency of suspender.
Particularly, as shown in Figure 1, be described for gantry crane, comprise door frame, the below of door frame is provided with caster device, caster device can adopt rubber-tyred, also can to adopt rail mounted.All be provided with two reels 1 in the left and right sides of door frame, because door frame structure on two sides is symmetrical, only the leftmost side is described here.Left and right mentioned herein refers to, be just left to hoisting crane left-hand side, right-hand side be the right side.Two reels 1 in left side are coaxially arranged, and are connected with the output shaft of same change speed gear box 2, and the input shaft of change speed gear box 2 connects a drive motor 4.Drive motor 4 synchronously drives two reels 1 to rotate by change speed gear box 2.Each reel 1 is all wound around steel cable 3, around on the movable pulley 6 on dolly after the pulley 5 of steel rope 3 through door frame top commutates, and again around on the movable pulley 7 on suspender 8 after movable pulley 6 commutates, requirement according to propulsive effort and maximum load optionally can be wound around circle or a multi-turn between movable pulley 7 and fixed pulley 8, and one end of final steel rope 3 is fixedly connected on dolly.
When carrying out lifting operation, respectively by control door frame left and right sides reel 1 turn to and rotating speed to control the final motion morphology of suspender 8.The final motion morphology of suspender 8 comprises up-and-down movement, with the motion of translation of dolly and compound motion (i.e. the resultant motion of horizontal motion and vertical direction motion).
Further, based on above-described embodiment, the motion of reel 1, dolly and suspender 8 adopts following relation:
v x + v y = v 2 v y - v x = v 1 ;
Wherein, v xfor the speed of suspender 8 horizontal direction; v yfor the speed of suspender 8 vertical direction; v 1for steel rope 3 coiling speed that left side reel 1 draws; v 2for steel rope 3 coiling speed that right side reel 1 draws.
When only having suspender 8 to carry out up-and-down movement (also i.e. dipping and heaving), drive motor 4 synchronous axial system of door frame both sides, controls the folding and unfolding steel rope 3 that each reel 1 of door frame both sides is synchronized accordingly.Making suspender 8 increase with receiving steel rope 3, declining with suspender 9 when putting steel rope 3.Namely now, v x=0, v 2=v 1.
When only having dolly sway, one in the drive motor 4 of two, door frame both sides controls side reel 1 and receives steel rope 3, and the reel 1 of another control opposite side is synchronized puts steel rope 3.Now, v y=0, v 2=-v 1.
When suspender 8 carries out two-dimentional compound motion, namely the componental movement of the existing level of suspender 8 also has vertical componental movement.
The rotating speed of door frame both sides reel 1 can see table 1, and following table 1 gives the data of corresponding suspender 8 up-and-down movement, dolly sway, the two-dimentional compound motion of suspender 8.The data that following table 1 provides are the present invention's wherein a kind of implementations, should not be construed as limitation of the present invention.
Table 1
Further, based on above-described embodiment, the rotary state controlling left and right sides reel 1 comprises: each drive motor 4 rotating speed being driven left and right sides reel 1 by Frequency Converter Control, controls the rotary state of respective reel 1.Such as, the concrete data controlling reel 1 rotation see table 1, according to the data of upper table 1, can carry out the frequency of power supply in control inputs drive motor 4 accordingly by a frequency converter, and then obtain the different rotating speeds of drive motor 4, realize the action in table 1 accordingly.Aforesaid way, the type of drive that the reel 1 of the left and right sides rotates all have employed the mode of AC inverter driving system, because frequency can consecutive variations, therefore, dolly, suspender 8 start relative with during stopping steadily, reduce impact.
Further, based on above-described embodiment, driven each drive motor 4 rotating speed of left and right sides reel 1 by Frequency Converter Control, control the rotary state of respective reel 1, comprising:
According to predetermined velocity amplitude, obtain the power frequency that frequency converter exports two drive motor 4 respectively to, each drive motor 4 rotates according to the power frequency of input, controls the rotary state of corresponding reel.According to the difference of spool turns state, can control that dolly moves, suspender 8 up-and-down movement or the two-dimentional compound motion of suspender 8, the implementation of concrete motion is see foregoing description.Predetermined velocity amplitude can represent with each gear in above-mentioned table 1, and each gear can represent a concrete rotating speed, and its rotating speed can represent by power frequency; Also can represent with concrete tachometer value.For same reel, when rotating speed is determined, the folding and unfolding intrinsic speed of the steel rope that it is wound around also uniquely is determined, can characterize the speed of steel rope 3 folding and unfolding with the rotating speed of reel 1.
Further, based on above-described embodiment, driven each drive motor 4 rotating speed of left and right sides reel 1 by Frequency Converter Control, comprising:
Obtained the real-time rotate speed of left and right sides reel 1 by tachogen, judge that whether each reel 1 real-time rotate speed is identical with predetermined velocity amplitude, if different, then revise the power frequency that frequency converter exports corresponding drive motor to.Adopt this kind of mode to define closed loop control system, can adjust the real-time rotate speed of reel 1, make motion control more accurate.
Further, based on above-described embodiment, revise the power frequency that frequency converter exports corresponding drive motor 4 to, comprising:
If the real-time rotate speed of a certain reel is greater than predetermined velocity amplitude, then heighten the power frequency that frequency converter exports drive motor corresponding to this reel to;
If the real-time rotate speed of a certain reel is less than predetermined velocity amplitude, then turn down the power frequency that frequency converter exports drive motor corresponding to this reel to.
The folding and unfolding speed of steel rope 3 and the rotating speed of reel 1 have corresponding relation, along with the change of reel 1 speed, and the folding and unfolding speed also respective change of steel rope 3, namely reel 1 speed accelerates, then steel rope 3 folding and unfolding speed accelerates, and reel 1 rotating speed is slack-off, then steel rope 3 folding and unfolding speed is also slack-off.
The rotating speed of power frequency and drive motor 4 has corresponding relation, i.e. the rotating speed of the unique corresponding drive motor of a certain power frequency.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.

Claims (5)

1. a hoisting crane compound motion control method, is characterized in that, comprising:
Arrange reel respectively in the bottom of the door frame left and right sides of hoisting crane, equal lay winding wire ropes on each described reel, one end of each described steel rope is corresponding in turn to movable pulley, the movable pulley on suspender of walking around dolly on described door frame, and is fixedly connected with described dolly;
The both sides of described door frame are provided with two described reels respectively, and reel described in each is wound around a described steel rope, the both sides of described suspender and four described steel ropes are placed in, and the two described steel ropes being positioned at described suspender the same side are arranged side by side;
By controlling the rotary state of reel described in the left and right sides, control described dolly and described lifting appliance moving, to make described suspender that two-dimentional compound motion occur,
The motion of described reel, described dolly and described suspender adopts following relation:
v x + v y = v 2 v y - v x = v 1 ;
Wherein,
V xfor the speed of described suspender horizontal direction;
V yfor the speed of described suspender vertical direction;
V 1for the described steel rope coiling speed that the described reel in left side draws;
V 2for the described steel rope coiling speed that the described reel in right side draws.
2. hoisting crane compound motion control method according to claim 1, it is characterized in that, the rotary state controlling reel described in the left and right sides comprises: each drive motor rotating speed being driven reel described in the left and right sides by Frequency Converter Control, controls the rotary state of respective reel.
3. hoisting crane compound motion control method according to claim 2, is characterized in that, the described each drive motor rotating speed being driven reel described in the left and right sides by Frequency Converter Control, is controlled the rotary state of respective reel, comprising:
According to predetermined velocity amplitude, obtain the power frequency that frequency converter exports drive motor described in two respectively to, each described drive motor rotates according to the described power frequency of input, controls the rotary state of corresponding reel.
4. hoisting crane compound motion control method according to claim 3, is characterized in that, the described each drive motor rotating speed being driven reel described in the left and right sides by Frequency Converter Control, being comprised:
Obtained the real-time rotate speed of reel described in the left and right sides by tachogen, judge that whether real-time rotate speed described in each reel is identical with described predetermined velocity amplitude, if different, then revise the described power frequency that described frequency converter exports corresponding described drive motor to.
5. hoisting crane compound motion control method according to claim 4, is characterized in that, the described frequency converter of described correction exports the described power frequency of corresponding described drive motor to, comprising:
If the real-time rotate speed of a certain reel is greater than described predetermined velocity amplitude, then heighten the described power frequency that described frequency converter exports described drive motor corresponding to this reel to;
If the real-time rotate speed of a certain reel is less than described predetermined velocity amplitude, then turn down the described power frequency that described frequency converter exports described drive motor corresponding to this reel to.
CN201310146614.6A 2013-04-24 2013-04-24 Hoisting crane compound motion control method CN103287975B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103601093B (en) * 2013-09-17 2016-06-01 中联重科股份有限公司 Tower machine and two lifting mechanism synchronization control method, apparatus and system thereof

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1221392A (en) * 1996-08-09 1999-06-30 Kci国际有限公司 Control system for rope bucket
US6343702B1 (en) * 1999-08-12 2002-02-05 Mitsubishi Heavy Industries, Ltd. Crane apparatus
CN1785780A (en) * 2005-07-01 2006-06-14 上海振华港口机械(集团)股份有限公司 Steel cable winding system for container crane lifting and trolley compound motion
CN101172560A (en) * 2006-11-02 2008-05-07 交通部水运科学研究院 Container sling hydraulic pressure turning and tilting device
CN101670982A (en) * 2009-09-27 2010-03-17 大连华锐股份有限公司 Maintenance gantry crane
CN102009912A (en) * 2010-11-12 2011-04-13 卫华集团有限公司 Roll reduction container crane and roll reduction mechanism thereof

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1221392A (en) * 1996-08-09 1999-06-30 Kci国际有限公司 Control system for rope bucket
US6343702B1 (en) * 1999-08-12 2002-02-05 Mitsubishi Heavy Industries, Ltd. Crane apparatus
CN1785780A (en) * 2005-07-01 2006-06-14 上海振华港口机械(集团)股份有限公司 Steel cable winding system for container crane lifting and trolley compound motion
CN101172560A (en) * 2006-11-02 2008-05-07 交通部水运科学研究院 Container sling hydraulic pressure turning and tilting device
CN101670982A (en) * 2009-09-27 2010-03-17 大连华锐股份有限公司 Maintenance gantry crane
CN102009912A (en) * 2010-11-12 2011-04-13 卫华集团有限公司 Roll reduction container crane and roll reduction mechanism thereof

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