CN104150362B - For operation dynamic monitoring system and the monitoring method of mechanical type twin rope grab - Google Patents
For operation dynamic monitoring system and the monitoring method of mechanical type twin rope grab Download PDFInfo
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- CN104150362B CN104150362B CN201410368420.5A CN201410368420A CN104150362B CN 104150362 B CN104150362 B CN 104150362B CN 201410368420 A CN201410368420 A CN 201410368420A CN 104150362 B CN104150362 B CN 104150362B
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Abstract
For the problem lacking effective monitoring in existing machinery formula twin rope grab operation process, the invention provides the operation dynamic monitoring system for mechanical type twin rope grab and monitoring method.Described system comprises monitoring means, control unit and output unit, and described control unit comprises separate the first control subelement and second and controls subelement.Described method comprises: 1 switches on power, to control unit input parameter value; 2 are also passed to first in control unit respectively by monitoring means collection signal controls subelement and the second control subelement; 3 control subelement by first processes to the received signal, and makes corresponding acousto-optic hint by output unit; 4 control subelement by second processes to the received signal, and makes corresponding prompting by output unit; 5 PTO Power Take Off, end operation.Useful technique effect: present invention achieves the intellectuality of grab bucket operation, visual, safe and hommization.
Description
Technical field
The present invention relates to engineering machinery field, be specifically related to a kind of operation dynamic monitoring system for mechanical type twin rope grab and monitoring method.
Background technology
Grab bucket keeps left right two and combines the foldings crawl of bucket or multiple jaw and draw off the suspender of bulk material, and the grab bucket be made up of multiple jaw is also gripper, and domestic adopted grab bucket at present mainly contains mechanical type grab bucket and fluid pressure type grab bucket.Mechanical type grab bucket pulls cable wire to control the closed of grab bucket by motor, and having two kinds at present, is twin rope grab and single rope grab respectively, and because production efficiency is higher, twin rope grab uses comparatively general in practical engineering application.The structure of mechanical type twin rope grab is comparatively complicated, and two motors pull two cable wires, is supporting cables and closed rope respectively.Supporting cables hauls rising and falling of whole control grab bucket of grabbing bucket, and closed rope hauls grab bucket crossbeam and controls separating of grab bucket two jaws and close.Often grab a pipeful of material, mechanical type twin rope grab needs by realizing the control of supporting cables and closed rope is put to bucket, material grasping, lifting, turns round, put the actions such as bucket, blanking.But due to fault of construction own, there is very large operation easier and great potential safety hazard in current existing mechanical type twin rope grab in the process of material grasping.Current mechanical type twin rope grab is mainly used in harbour, harbour, mine, the operator's compartment distance grab bucket at operator place generally has tens meters even distance of up to a hundred meters, so mechanical type twin rope grab is all operated a long way off by operator, but owing to being Non-follow control, operator is needed to be carried out the operation of grabbing bucket by the position observing grab bucket, folding and unfolding effectively and timely can not be carried out to cable wire, cause material grasping not grab completely even to use leisure moments, cause the reduction of increase and the production efficiency greatly of work capacity, and production process depends on the experimental technology of operator unduly.In addition, because the grab bucket of operator's distance is far away, once grab bucket runs into the material of hard bulk, operator is difficult to observe grab bucket institute produced problem, continue to allow the action of material grasping of having grabbed bucket, the distortion of the combination bucket that can cause grabbing bucket, thus cause the damage of grabbing bucket, the damage even causing motor to cause because load is excessive, causes a serious accident.
Summary of the invention
The object of the invention is to solve the problem, providing a kind of mechanical type twin rope grab operation dynamic monitoring system and method, with failure monitor function.The problem that operation easier in solution mechanical type twin rope grab working process is large, minimizing is because operator's distance is grabbed bucket comparatively far, and the grab bucket caused is grabbed to be discontented with and even used leisure moments, and reduces work capacity, enhances productivity.Otherwise address mechanical type twin rope grab can not control the problem of shutting down in time when running into the hard material of bulk, reduce the generation of grave accident widely, the safety of support equipment.Realize the intellectuality of mechanical type twin rope grab operation, visual, safe and hommization.
The object of the invention is to be achieved through the following technical solutions:
For the operation dynamic monitoring system of mechanical type twin rope grab, comprise monitoring means, control unit and output unit; It is characterized in that: adopt wireless connections between monitoring means and control unit and communication, adopt wired connection between control unit and output unit and communication;
Described monitoring means is arranged on mechanical type twin rope grab; The value of thrust and strain force value that mechanical type twin rope grab bears is detected by monitoring means, and by the data transmission that detects to control unit;
Described control unit and output unit are all arranged in the operator's compartment of mechanical type twin rope grab; Wherein, control unit comprises separate the first control subelement and second and controls subelement, and the first control subelement and second controls subelement and is connected with output unit respectively; First control subelement and second controls subelement and judges the data that monitoring means transmission comes and process respectively, and shows respectively by the result of output unit by process.
Furtherly, in the present invention, described mechanical type twin rope grab should comprise closed rope 106, supporting cables 107, grab bucket main body 108, grab bucket jaw 109, grab bucket head-shield 110 and gear rope device 111; Wherein, be provided with grab bucket head-shield 110 at the top of grab bucket main body 108, be connected with two pieces of grab bucket jaws 109 in the bottom of grab bucket main body 108; Gear rope device 111 is provided with at the top of grab bucket head-shield 110.
Described monitoring means comprises supporting cables pulling force sensor 101, closed rope pulling force sensor 102, grab bucket strain-gauge 103 and grab bucket wireless launcher 104; Wherein, one end of supporting cables pulling force sensor 101 is connected with supporting cables 107, the other end of supporting cables pulling force sensor 101 and gear device 111 of restrict is connected, the supporting cables value of thrust a being measured supporting cables 107 by supporting cables pulling force sensor 101 and grabbed bucket between head-shield 110; One end of closed rope pulling force sensor 102 is connected with closed rope 106, and the other end of closed rope pulling force sensor 102 is connected with grab bucket head-shield 110, measures the closed rope value of thrust b between closed rope 106 and grab bucket head-shield 110 by closed rope pulling force sensor 102; 4 to 12 grab bucket strain-gaugies 103 are evenly equipped with at the edge of the opening of every block grab bucket jaw 109, when there is deformation in the grab bucket jaw 109 be connected with grab bucket strain-gauge 103, the strain force value c of grab bucket strain-gauge 103 output linearity change; Grab bucket wireless launcher 104 is installed at the top of grab bucket; By wire, supporting cables pulling force sensor 101, closed rope pulling force sensor 102 and grab bucket strain-gauge 103 are connected with grab bucket wireless launcher 104 respectively;
Described control unit comprises the first control subelement and second and controls subelement; Wherein, the first control subelement comprises the first control radio receiver 201, first control signal modulate circuit 203, first control analog to digital conversion circuit 205, controls clock chip circuit 207, programmable logic controller (PLC) PLC209 and the first power supply 211; Second controls subelement comprises the second control of control radio receiver 202, second control signal modulate circuit 204, second analog to digital conversion circuit 206, second source 208 and industrial computer IPC210;
The wireless transmitting terminals of grab bucket wireless launcher 104 controls radio receiver 201 respectively wireless interface receiving end, second with first controls the wireless interface receiving end wireless connections of radio receiver 202 and communication; First mouth controlling radio receiver 201 is connected with the input end of the first control signal modulate circuit 203, the mouth of the first control signal modulate circuit 203 is connected with the first input end controlling analog to digital conversion circuit 205, first controls the mouth of analog to digital conversion circuit 205 is connected with the input end of programmable logic controller (PLC) PLC209, programmable logic controller (PLC) PLC209 respectively with the first power supply 211, control clock chip circuit 207 and be connected; Wherein, the first control signal modulate circuit 203 is responsible for controlling radio receiver 201 by first and is transmitted the signal amplification come; First controls the responsible signal come that transmitted by first control signal modulate circuit 203 of analog to digital conversion circuit 205 transfers digital signal to; Control clock chip circuit 207 to be responsible for providing timing signal to programmable logic controller (PLC) PLC209; Programmable logic controller (PLC) PLC209 is responsible for carrying out concrete estimation & disposing to the first signal controlling analog to digital conversion circuit 205 transmission next, produces corresponding control command;
Second mouth controlling radio receiver 202 is connected with the input end of the second control signal modulate circuit 204, the mouth of the second control signal modulate circuit 204 is connected with the second input end controlling analog to digital conversion circuit 206, second mouth controlling analog to digital conversion circuit 206 is connected with the input end of industrial computer IPC210, industrial computer IPC210 and second source 208; Wherein, the second control signal modulate circuit 204 is responsible for controlling radio receiver 202 by second and is transmitted the signal amplification come; Second controls the responsible signal come that transmitted by second control signal modulate circuit 204 of analog to digital conversion circuit 206 transfers digital signal to; The signal that industrial computer IPC210 is responsible for the transmission of the second control signal modulate circuit 204 is come carries out concrete judgement;
Described output unit comprises acoustooptic alarm system 301, first data storage device 302, second data storage device 303 and Liquid Crystal Display 304; Wherein, sound light alarming circuit 301 is connected with the mouth of programmable logic controller (PLC) PLC209 respectively with the first data storage device 302, is performed the instruction of programmable logic controller (PLC) PLC209 by sound light alarming circuit 301; Second data storage device 303 is connected with the mouth of industrial computer IPC210 respectively with Liquid Crystal Display 304; The data processed result of industrial computer IPC210 is shown by Liquid Crystal Display 304.
Described sound light alarming circuit 301 includes " normally working " indicator lamp 305, " risky operation " alarm lamp 306, " grabbing bucket overweight " alarm lamp 307, " material is touched in grab bucket " indicator lamp 308 and buzzer siren 309; Sound light alarming circuit 301 is switched on or switched off the power supply of " normally working " indicator lamp 305, " risky operation " alarm lamp 306, " grabbing bucket overweight " alarm lamp 307, " material is touched in grab bucket " indicator lamp 308 and buzzer siren 309 by the instruction of programmable logic controller (PLC) PLC209.
Adopt product of the present invention to carry out the control method of operation dynamic monitoring system, carry out as follows:
Step 1: the power supply connecting monitoring means, control unit and output unit, to control unit input minimum support Suo Lali threshold value A 1, maximum support Suo Lali threshold value A 2, minimal closure Suo Lali threshold value B1, maximum close Suo Lali threshold value B2 and maximum strain power threshold value C;
Step 2: be also passed to first in control unit respectively by the supporting cables value of thrust a of monitoring means collection machinery formula twin rope grab, closed rope value of thrust b and strain force value c and control subelement and the second control subelement;
Step 3: processed to the received signal by the first programmable logic controller (PLC) PLC209 controlled in subelement, and make corresponding acousto-optic hint by the acoustooptic alarm system 301 in output unit;
Step 4: the industrial computer IPC210 controlling subelement by second processes to the received signal, and makes corresponding acousto-optic hint by the Liquid Crystal Display 304 in output unit;
Step 5: the power supply of closing monitoring means, control unit and output unit, end operation.
Beneficial effect of the present invention:
After adopting this product, the operation of mechanical type twin rope grab will become and to be more prone to, accurately, operator can operate according to the information shown in alarm lamp, buzzer phone and Liquid Crystal Display, greatly reduce the requirement to operator's experience, and can solve mechanical type twin rope grab to a great extent and often grab discontented situation about even using leisure moments, this is existing for current mechanical type twin rope grab and general problem.In addition, adopting the mechanical type twin rope grab after this product to have more guarantee, grab bucket distortion can not be caused because of working on when catching hard object.Greatly reduce the accident rate of mechanical type twin rope grab, can the safety of support equipment and personnel.
The monitoring means of this product uses supporting cables pulling force sensor 101, closed rope pulling force sensor 102 and grab bucket strain-gauge 103, and the mode of operation of all-dimensional multi-angle to grab bucket is monitored, and can reliably collect required data, and cost is lower.Adopt wireless communication technology between the monitoring means of this product and control unit, realize the data transmission under remote complex working condition, alerting ability is high, and cost is low, and reliability is high.
The control unit of this product for core, combines that sensor antijamming capability is strong, reliability is high and PLC is easy to use with programmable logic controller (PLC) PLC209 and industrial computer IPC210, and programming is simple, and System's composition is flexible, and expansion is easy to feature.The real-time display equipment running state of output unit of mechanical type twin rope grab operation dynamic monitoring system and failure message, enable engineering staff intuitively grasp field conditions in time, improve the hommization of fault monitoring system.
Whole system reaction fast effectively, the multiple sensor of compound use simultaneously, and by the real-time display device mode of operation of human-computer interaction device and failure message, intelligent, hommization degree is high.Described data storage device can store the signal that monitoring means obtains, so that the profound reason excavating described mechanical type twin rope grab operation irregularity.
Accompanying drawing explanation
Fig. 1 is that in this product, monitoring means is arranged on the simple view on mechanical type twin rope grab.
Fig. 2 is the lateral plan of Fig. 1.
Fig. 3 is the circuit frame figure of this product.
Fig. 4 is the diagram of circuit of the inventive method.
Fig. 5 is the concrete estimation & disposing flow process that in this product, the signal come is transmitted in control unit process by monitoring means.
Sequence number in figure is: supporting cables pulling force sensor 101, closed rope pulling force sensor 102, grab bucket strain-gauge 103 and grab bucket wireless launcher 104, closed rope 106, supporting cables 107, grab bucket main body 108, grab bucket jaw 109, grab bucket head-shield 110, gear rope device 111, second controls outside expanded circuit interface 212, first controls outside expanded circuit interface 213, first controls radio receiver 201, second controls radio receiver 202, first control signal modulate circuit 203, second control signal modulate circuit 204, first controls analog to digital conversion circuit 205, second controls analog to digital conversion circuit 206, control clock chip circuit 207, second source 208, programmable logic controller (PLC) PLC209, industrial computer IPC210, first power supply 211, sound light alarming circuit 301, first data storage device 302, second data storage device 303 and Liquid Crystal Display 304, " normally work " indicator lamp 305, " risky operation " alarm lamp 306, " to grab bucket overweight " alarm lamp 307, " material is touched in grab bucket " indicator lamp 308, buzzer siren 309.
Detailed description of the invention
Now be described with reference to the accompanying drawings constructional feature of the present invention.
See Fig. 1, for the operation dynamic monitoring system of mechanical type twin rope grab, described mechanical type twin rope grab comprises closed rope 106, supporting cables 107, grab bucket main body 108, grab bucket jaw 109, grab bucket head-shield 110 and gear rope device 111; Wherein, be provided with grab bucket head-shield 110 at the top of grab bucket main body 108, be connected with two pieces of grab bucket jaws 109 in the bottom of grab bucket main body 108; Gear rope device 111 is provided with at the top of grab bucket head-shield 110; In addition: be also provided with monitoring means, control unit and output unit; Wherein, adopt wireless connections between monitoring means and control unit and communication, adopt wired connection between control unit and output unit and communication; Described monitoring means is arranged on mechanical type twin rope grab; The value of thrust and strain force value that mechanical type twin rope grab bears is detected by monitoring means, and by the data transmission that detects to control unit; Described control unit and output unit are arranged in the operator's compartment of mechanical type twin rope grab; Wherein, control unit comprises separate the first control subelement and second and controls subelement, and the first control subelement and second controls subelement and is connected with output unit respectively; First control subelement and second controls subelement and judges the data that monitoring means transmission comes and process respectively, and shows respectively by the result of output unit by process.
See Fig. 3, described monitoring means comprises supporting cables pulling force sensor 101, closed rope pulling force sensor 102, grab bucket strain-gauge 103 and grab bucket wireless launcher 104; Wherein, one end of supporting cables pulling force sensor 101 is connected with supporting cables 107, the other end of supporting cables pulling force sensor 101 and gear device 111 of restrict is connected, the supporting cables value of thrust a being measured supporting cables 107 by supporting cables pulling force sensor 101 and grabbed bucket between head-shield 110; One end of closed rope pulling force sensor 102 is connected with closed rope 106, and the other end of closed rope pulling force sensor 102 is connected with grab bucket head-shield 110, measures the closed rope value of thrust b between closed rope 106 and grab bucket head-shield 110 by closed rope pulling force sensor 102; 4 to 12 grab bucket strain-gaugies 103 are evenly equipped with at the edge of the opening of every block grab bucket jaw 109, when there is deformation in the grab bucket jaw 109 be connected with grab bucket strain-gauge 103, the strain force value c of grab bucket strain-gauge 103 output linearity change; Grab bucket wireless launcher 104 is installed at the top of grab bucket; By wire, supporting cables pulling force sensor 101, closed rope pulling force sensor 102 and grab bucket strain-gauge 103 are connected with grab bucket wireless launcher 104 respectively; See Fig. 2, preferred scheme is, is evenly equipped with 4 grab bucket strain-gaugies 103 at the edge of the opening of every block grab bucket jaw 109.
See Fig. 3, described control unit comprises the first control subelement and second and controls subelement; Wherein, the first control subelement comprises the first control radio receiver 201, first control signal modulate circuit 203, first control analog to digital conversion circuit 205, controls clock chip circuit 207, programmable logic controller (PLC) PLC209 and the first power supply 211; Second controls subelement comprises the second control of control radio receiver 202, second control signal modulate circuit 204, second analog to digital conversion circuit 206, second source 208 and industrial computer IPC210.
See Fig. 3, the wireless transmitting terminals of grab bucket wireless launcher 104 controls radio receiver 201 respectively wireless interface receiving end, second with first controls the wireless interface receiving end wireless connections of radio receiver 202 and communication; First mouth controlling radio receiver 201 is connected with the input end of the first control signal modulate circuit 203, the mouth of the first control signal modulate circuit 203 is connected with the first input end controlling analog to digital conversion circuit 205, first controls the mouth of analog to digital conversion circuit 205 is connected with the input end of programmable logic controller (PLC) PLC209, programmable logic controller (PLC) PLC209 respectively with the first power supply 211, control clock chip circuit 207 and be connected; Wherein, the first control signal modulate circuit 203 is responsible for controlling radio receiver 201 by first and is transmitted the signal amplification come; First controls the responsible signal come that transmitted by first control signal modulate circuit 203 of analog to digital conversion circuit 205 transfers digital signal to; Control clock chip circuit 207 to be responsible for providing timing signal to programmable logic controller (PLC) PLC209; Programmable logic controller (PLC) PLC209 is responsible for carrying out concrete estimation & disposing to the first signal controlling analog to digital conversion circuit 205 transmission next, produces corresponding control command.
See Fig. 3, second mouth controlling radio receiver 202 is connected with the input end of the second control signal modulate circuit 204, the mouth of the second control signal modulate circuit 204 is connected with the second input end controlling analog to digital conversion circuit 206, second mouth controlling analog to digital conversion circuit 206 is connected with the input end of industrial computer IPC210, industrial computer IPC210 and second source 208; Wherein, the second control signal modulate circuit 204 is responsible for controlling radio receiver 202 by second and is transmitted the signal amplification come; Second controls the responsible signal come that transmitted by second control signal modulate circuit 204 of analog to digital conversion circuit 206 transfers digital signal to; The signal that industrial computer IPC210 is responsible for the transmission of the second control signal modulate circuit 204 is come carries out concrete judgement; See Fig. 3, described output unit comprises sound light alarming circuit 301, first data storage device 302, second data storage device 303 and Liquid Crystal Display 304; Wherein, sound light alarming circuit 301 is connected with the mouth of programmable logic controller (PLC) PLC209 respectively with the first data storage device 302, is performed the instruction of programmable logic controller (PLC) PLC209 by sound light alarming circuit 301; Second data storage device 303 is connected with the mouth of industrial computer IPC210 respectively with Liquid Crystal Display 304; The data processed result of industrial computer IPC210 is shown by Liquid Crystal Display 304.Furtherly, described sound light alarming circuit 301 includes " normally working " indicator lamp 305, " risky operation " alarm lamp 306, " grabbing bucket overweight " alarm lamp 307, " material is touched in grab bucket " indicator lamp 308 and buzzer siren 309; Sound light alarming circuit 301 is switched on or switched off the power supply of " normally working " indicator lamp 305, " risky operation " alarm lamp 306, " grabbing bucket overweight " alarm lamp 307, " material is touched in grab bucket " indicator lamp 308 and buzzer siren 309 by the instruction of programmable logic controller (PLC) PLC209.
Furtherly, the first control signal modulate circuit 203 and the second control signal modulate circuit 204 are and comprise the zero shift motion amplifier that one piece of model is TP5531; Control clock chip circuit 207 and comprise the serial clock circuit that one piece of model is the clock chip of DS1302; Programmable logic controller (PLC) PLC209 is the model that Mitsubishi is produced is the PLC of FX1N-24MR-001; First data storage device 302 for the model that Jin Pin company produces be the memory device of JP6016SS; Programmable logic controller (PLC) PLC209 is connected with the drive motor of mechanical type twin rope grab.
Furtherly, described grab bucket strain-gauge 103 is close-up crystal unit; When strain-gauge 103 of grabbing bucket is under pressure and produces distortion, namely the resistance value of grab bucket strain-gauge 103 changes, and corresponding linear change occurs its signal exported.
Furtherly, grab bucket head-shield 110 is provided with grab bucket end power supply, grab bucket end power supply is connected with supporting cables pulling force sensor 101, closed rope pulling force sensor 102, strain-gauge of grabbing bucket 103 and wireless launcher 104 of grabbing bucket and powers respectively.
See Fig. 3, programmable logic controller (PLC) PLC209 and first controls outside expanded circuit interface 213 and is connected, and by the outside expanded circuit interface 213 of the first control, original circuit of hoisting crane and equipment and first is controlled subelement and couples together, share data; Industrial computer IPC210 and second controls outside expanded circuit interface 212 and is connected, and controls outside expanded circuit interface 212 be connected with the original circuit of hoisting crane and equipment by industrial computer IPC210 by second.First controls outside expanded circuit 213 adopts Mitsubishi model to be the 232 interface communication panels of FX1N-232-BD.Second controls outside expanded circuit interface 212 adopts Honeywell Inc.'s model to be that the PCI-E of SW-CH2S turns 2 serial port expanding modules.
See Fig. 4, adopt product of the present invention to carry out the control method of operation dynamic monitoring system, carry out as follows:
Step 1: the power supply connecting monitoring means, control unit and output unit, to control unit input minimum support Suo Lali threshold value A 1, maximum support Suo Lali threshold value A 2, minimal closure Suo Lali threshold value B1, maximum close Suo Lali threshold value B2 and maximum strain power threshold value C;
Step 2: be also passed to first in control unit respectively by the supporting cables value of thrust a of monitoring means collection machinery formula twin rope grab, closed rope value of thrust b and strain force value c and control subelement and the second control subelement;
Step 3: processed to the received signal by the first programmable logic controller (PLC) PLC209 controlled in subelement, and make corresponding acousto-optic hint by the sound light alarming circuit 301 in output unit;
Step 4: the industrial computer IPC210 controlling subelement by second processes to the received signal, and makes corresponding acousto-optic hint by the Liquid Crystal Display 304 in output unit;
Step 5: the power supply of closing monitoring means, control unit and output unit, end operation.
See Fig. 5, furtherly, when adopting method of the present invention, the concrete control method of monitoring means, control unit and output unit is as follows:
Step 1: connect the power supply of industrial computer IPC210 and programmable logic controller (PLC) PLC209 and start shooting, inputs minimum support Suo Lali threshold value A 1, maximum support Suo Lali threshold value A 2, minimal closure Suo Lali threshold value B1, maximum close Suo Lali threshold value B2 and maximum strain power threshold value C respectively to industrial computer IPC210 and programmable logic controller (PLC) PLC209; Set up grab bucket wireless launcher 104 and first and control the connection that radio receiver 201, second controls radio receiver 202;
Step 2: the closed rope value of thrust b that the supporting cables value of thrust a detected by supporting cables pulling force sensor 101, closed rope pulling force sensor 102 detect and the strain force value c that grab bucket strain-gauge 103 detects is passed to the first control radio receiver 201 and second respectively through grab bucket wireless launcher 104 and controls radio receiver 202;
Control radio receiver 201 by first inputs in programmable logic controller (PLC) PLC209 by the data-signal received successively after the amplification process of the first control signal modulate circuit 203, first controls analog to digital conversion circuit 205 analog-to-digital conversion process; The signal that receives stored in the first data storage device 302, and to process signal by the method described in step 3 by programmable logic controller (PLC) PLC209; Control radio receiver 202 by second inputs in industrial computer IPC210 by the data-signal received successively after the signal modulus conversion treatment that the signal of the second control signal modulate circuit 204 amplifies process, the second control analog to digital conversion circuit 206; The signal that receives stored in the second data storage device 303, and to process signal by the method described in step 4 by industrial computer IPC210;
Step 3: programmable logic controller (PLC) PLC209 processes the data-signal received as follows, refers to Fig. 5:
Whether 3.1 be less than maximum strain power threshold value C by comparing strain force value c:
If the strain force value c > maximum strain power threshold value C of any one grab bucket strain-gauge 103 that programmable logic controller (PLC) PLC209 receives, then " risky operation " alarm lamp 306 in programmable logic controller (PLC) PLC209 driving sound light alarming circuit 301 is lighted, buzzer siren 309 is reported to the police; Meanwhile, programmable logic controller (PLC) PLC209 sends pass stop instruction to the drive motor of mechanical type twin rope grab;
If strain force value c < maximum strain power threshold value C, then enter next step;
Whether 3.2 compare supporting cables pulling force a is less than minimum support Suo Lali threshold value A 1:
If supporting cables value of thrust a < minimum support Suo Lali threshold value A 1, then programmable logic controller (PLC) PLC209 drives " material is touched in the grab bucket " indicator lamp 308 in sound light alarming circuit 301 to light;
If supporting cables value of thrust a > minimum support Suo Lali threshold value A 1, then enter next step;
Whether 3.3 compare supporting cables pulling force a is less than maximum support Suo Lali threshold value A 2:
If supporting cables value of thrust a > maximum support Suo Lali threshold value A 2, then programmable logic controller (PLC) PLC209 drives " risky operation " alarm lamp 306 in sound light alarming circuit 301 to light; Meanwhile, programmable logic controller (PLC) PLC209 sends pass stop instruction to the drive motor of mechanical type twin rope grab;
If supporting cables value of thrust a < maximum support Suo Lali threshold value A 2, then enter next step;
Whether 3.4 relatively more closed Suo Lali b are less than maximum close Suo Lali threshold value B1:
If closed rope value of thrust b > maximum close Suo Lali threshold value B1, then programmable logic controller (PLC) PLC209 drives " risky operation " alarm lamp 306 in sound light alarming circuit 301 to light, and returns the detection that step 3.1 carries out a new round;
If closed rope value of thrust b < maximum close Suo Lali threshold value B1, then programmable logic controller (PLC) PLC209 drives " the normally working " indicator lamp 305 in sound light alarming circuit 301 to light, and returns the detection that step 3.1 carries out a new round;
Step 4: industrial computer IPC210 processes the data-signal received as follows, refers to Fig. 5:
Whether 4.1 compare strain force value c is less than maximum strain power threshold value C:
If strain force value c > maximum strain power threshold value C, then industrial computer IPC210 is shown " risky operation " by the Liquid Crystal Display 304 be attached thereto; If strain force value c > maximum strain power threshold value C, then enter next step;
Whether 4.2 compare supporting cables value of thrust a is less than minimum support Suo Lali threshold value A 1:
If supporting cables value of thrust a < minimum support Suo Lali threshold value A 1, industrial computer IPC210 is shown " material is touched in grab bucket " by the Liquid Crystal Display 304 be attached thereto; If supporting cables value of thrust a > minimum support Suo Lali threshold value A 1, then enter next step;
Whether 4.3 compare supporting cables value of thrust a is less than maximum support Suo Lali threshold value A 2:
If supporting cables value of thrust a > maximum support Suo Lali threshold value A 2, then industrial computer IPC210 shows " risky operation " alarm lamp 306 by the Liquid Crystal Display 304 be attached thereto; If supporting cables value of thrust a < maximum support Suo Lali threshold value A 2, then enter next step;
Whether 4.4 relatively more closed Suo Lali b are less than maximum close Suo Lali threshold value B1: if closed rope value of thrust b > maximum close Suo Lali threshold value B1, then industrial computer IPC210 shows " risky operation " alarm lamp 306 by the Liquid Crystal Display 304 be attached thereto, and returns the detection that step 4.1 carries out a new round; ;
If closed rope value of thrust b < maximum close Suo Lali threshold value B1, then industrial computer IPC210 shows " normally working " indicator lamp 305 by the Liquid Crystal Display 304 be attached thereto, and returns the detection that step 4.1 carries out a new round;
Step 5: the power supply disconnecting industrial computer IPC210 and programmable logic controller (PLC) PLC209, terminates dynamic monitoring.
In practical operation, operator cannot observe the information of display on Liquid Crystal Display 304 all the time, therefore give the most basic acousto-optic hint of operator by " normally working " indicator lamp 305, " risky operation " alarm lamp 306, " grabbing bucket overweight " alarm lamp 307, " material is touched in grab bucket " indicator lamp 308 and buzzer siren 309, making operator staring at while grab bucket carries out operating, understanding the state of equipment by the remaining light of eyes.When environmental permission time or after emergency braking, then understand concrete mode of operation and the content of warning by Liquid Crystal Display 304.
This product controls subelement with relatively independent first and the second control subelement processes monitoring means from the data of holding and passing back of grabbing bucket simultaneously, avoid the erroneous judgement adopting single control unit parameters input mistake, signal transmission extremely to cause, as long as the signal detected exceedes setting range, have at least one group of equipment to send alarm, thus avoid grab bucket et out of order or damage.
Claims (8)
1. for the operation dynamic monitoring system of mechanical type twin rope grab, it is characterized in that: comprise monitoring means, control unit and output unit; Adopt wireless connections between monitoring means and control unit and communication, adopt wired connection between control unit and output unit and communication;
Described monitoring means is arranged on mechanical type twin rope grab; The value of thrust and strain force value that mechanical type twin rope grab bears is detected by monitoring means, and by the data transmission that detects to control unit;
Described control unit and output unit are all arranged in the operator's compartment of mechanical type twin rope grab; Wherein, control unit comprises separate the first control subelement and second and controls subelement, and the first control subelement and second controls subelement and is connected with output unit respectively; First control subelement and second controls subelement and judges the data that monitoring means transmission comes and process respectively, and shows respectively by the result of output unit by process.
Described monitoring means comprises supporting cables pulling force sensor (101), closed rope pulling force sensor (102), grab bucket strain-gauge (103) and grab bucket wireless launcher (104); Wherein, one end of supporting cables pulling force sensor (101) is connected with supporting cables (107), the other end of supporting cables pulling force sensor (101) and gear device (111) of restrict is connected, the supporting cables value of thrust a being measured supporting cables (107) by supporting cables pulling force sensor (101) and grabbed bucket between head-shield (110); One end of closed rope pulling force sensor (102) is connected with closed rope (106), the other end of closed rope pulling force sensor (102) is connected with grab bucket head-shield (110), measures the closed rope value of thrust b between closed rope (106) and grab bucket head-shield (110) by closed rope pulling force sensor (102); 4 to 12 grab buckets strain-gauge (103) are evenly equipped with at the edge of the opening of every block grab bucket jaw (109), when there is deformation in the grab bucket jaw (109) be connected with grab bucket strain-gauge (103), the strain force value c of grab bucket strain-gauge (103) output linearity change; At the top of grab bucket, grab bucket wireless launcher (104) is installed; By wire, supporting cables pulling force sensor (101), closed rope pulling force sensor (102) and grab bucket strain-gauge (103) are connected with grab bucket wireless launcher (104) respectively;
Described control unit comprises the first control subelement and second and controls subelement; Wherein, the first control subelement comprises the first control radio receiver (201), the first control signal modulate circuit (203), first controls analog to digital conversion circuit (205), controls clock chip circuit (207), programmable logic controller (PLC) PLC (209) and the first power supply (211); Second controls subelement comprises the second control radio receiver (202), the second control signal modulate circuit (204), the second control analog to digital conversion circuit (206), second source (208) and industrial computer IPC (210);
The wireless transmitting terminals of grab bucket wireless launcher (104) controls radio receiver (201) respectively wireless interface receiving end, second with first controls the wireless interface receiving end wireless connections of radio receiver (202) and communication; First mouth controlling radio receiver (201) is connected with the input end of the first control signal modulate circuit (203), the input end that the mouth and first of the first control signal modulate circuit (203) controls analog to digital conversion circuit (205) is connected, first mouth controlling analog to digital conversion circuit (205) is connected with the input end of programmable logic controller (PLC) PLC (209), programmable logic controller (PLC) PLC (209) respectively with the first power supply (211), control clock chip circuit (207) and be connected; Wherein, the first control signal modulate circuit (203) is responsible for controlling radio receiver (201) by first and is transmitted next signal amplification; First controls analog to digital conversion circuit (205) is responsible for transferring signal next for the first control signal modulate circuit (203) transmission to digital signal; Control clock chip circuit (207) to be responsible for providing timing signal to programmable logic controller (PLC) PLC (209); Programmable logic controller (PLC) PLC (209) is responsible for carrying out concrete estimation & disposing to the first signal controlling analog to digital conversion circuit (205) transmission next, produces corresponding control command;
Second mouth controlling radio receiver (202) is connected with the input end of the second control signal modulate circuit (204), the input end that the mouth and second of the second control signal modulate circuit (204) controls analog to digital conversion circuit (206) is connected, second mouth controlling analog to digital conversion circuit (206) is connected with the input end of industrial computer IPC (210), industrial computer IPC (210) and second source (208); Wherein, the second control signal modulate circuit (204) is responsible for controlling radio receiver (202) by second and is transmitted next signal amplification; Second controls analog to digital conversion circuit (206) is responsible for transferring signal next for the second control signal modulate circuit (204) transmission to digital signal; The signal that industrial computer IPC (210) is responsible for the transmission of the second control signal modulate circuit (204) is come carries out concrete judgement;
Described output unit comprises sound light alarming circuit (301), the first data storage device (302), the second data storage device (303) and Liquid Crystal Display (304); Wherein, sound light alarming circuit (301) is connected with the mouth of programmable logic controller (PLC) PLC (209) respectively with the first data storage device (302), is performed the instruction of programmable logic controller (PLC) PLC (209) by sound light alarming circuit (301); Second data storage device (303) is connected with the mouth of industrial computer IPC (210) respectively with Liquid Crystal Display (304); The data processed result of industrial computer IPC (210) is shown by Liquid Crystal Display (304).
2. as claimed in claim 1 for the operation dynamic monitoring system of mechanical type twin rope grab, it is characterized in that, described sound light alarming circuit (301) includes " normally working " indicator lamp (305), " risky operation " alarm lamp (306), " grabbing bucket overweight " alarm lamp (307), " material is touched in grab bucket " indicator lamp (308) and buzzer siren (309); Sound light alarming circuit (301) is switched on or switched off the power supply of " normally working " indicator lamp (305), " risky operation " alarm lamp (306), " grabbing bucket overweight " alarm lamp (307), " material is touched in grab bucket " indicator lamp (308) and buzzer siren (309) by the instruction of programmable logic controller (PLC) PLC (209).
3. as claimed in claim 1 for the operation dynamic monitoring system of mechanical type twin rope grab, it is characterized in that, the first control signal modulate circuit (203) and the second control signal modulate circuit (204) are and comprise the zero shift motion amplifier that one piece of model is TP5531; Control clock chip circuit (207) and comprise the serial clock circuit that one piece of model is the clock chip of DS1302; Programmable logic controller (PLC) PLC (209) for the model that Mitsubishi is produced be the PLC of FX1N-24MR-001;
First data storage device (302) for the model that Jin Pin company produces be the memory device of JP6016SS;
Programmable logic controller (PLC) PLC (209) is connected with the drive motor of mechanical type twin rope grab.
4., as claimed in claim 1 for the operation dynamic monitoring system of mechanical type twin rope grab, it is characterized in that, described grab bucket strain-gauge (103) is close-up crystal unit; When strain-gauge (103) of grabbing bucket is under pressure and produces distortion, the resistance value of grab bucket strain-gauge (103) namely changes, and corresponding linear change occurs its signal exported.
5. as claimed in claim 1 for the operation dynamic monitoring system of mechanical type twin rope grab, it is characterized in that, grab bucket head-shield (110) is provided with grab bucket end power supply, and grab bucket end power supply is connected with supporting cables pulling force sensor (101), closed rope pulling force sensor (102), strain-gauge of grabbing bucket (103) and wireless launcher (104) of grabbing bucket and powers respectively.
6. as claimed in claim 1 for the operation dynamic monitoring system of mechanical type twin rope grab, it is characterized in that, programmable logic controller (PLC) PLC (209) and first controls outside expanded circuit interface (213) and is connected, by the outside expanded circuit interface (213) of the first control, original circuit of hoisting crane and equipment and first are controlled subelement to couple together, share data; Industrial computer IPC (210) and second controls outside expanded circuit interface (212) and is connected, and controls outside expanded circuit interface (212) be connected with the original circuit of hoisting crane and equipment by industrial computer IPC (210) by second.
7. as claimed in claim 6 for the operation dynamic monitoring system of mechanical type twin rope grab, it is characterized in that, first controls the FX1N-232-BD communication panel that outside expanded circuit interface (213) adopts Mitsubishi; Second controls the SW-CH2S expansion card that outside expanded circuit interface (212) adopts Honeywell Inc..
8. adopt the control method of arbitrary operation dynamic monitoring system for mechanical type twin rope grab described in claim 1 to 7, it is characterized in that, carry out as follows:
Step 1: the power supply connecting monitoring means, control unit and output unit, to control unit input minimum support Suo Lali threshold value A 1, maximum support Suo Lali threshold value A 2, minimal closure Suo Lali threshold value B1, maximum close Suo Lali threshold value B2 and maximum strain power threshold value C;
Step 2: be also passed to first in control unit respectively by the supporting cables value of thrust a of monitoring means collection machinery formula twin rope grab, closed rope value of thrust b and strain force value c and control subelement and the second control subelement;
Step 3: processed to the received signal by the first programmable logic controller (PLC) (PLC209) controlled in subelement, and make corresponding acousto-optic hint by the sound light alarming circuit (301) in output unit;
Step 4: the industrial computer IPC (210) controlling subelement by second processes to the received signal, and make corresponding acousto-optic hint by the Liquid Crystal Display (304) in output unit;
Step 5: the power supply of closing monitoring means, control unit and output unit, end operation.
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| CN201410368420.5A CN104150362B (en) | 2014-07-30 | 2014-07-30 | For operation dynamic monitoring system and the monitoring method of mechanical type twin rope grab |
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| CN201410368420.5A CN104150362B (en) | 2014-07-30 | 2014-07-30 | For operation dynamic monitoring system and the monitoring method of mechanical type twin rope grab |
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| CN104150362B true CN104150362B (en) | 2016-03-02 |
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| JP6577326B2 (en) * | 2015-10-16 | 2019-09-18 | ファナック株式会社 | Robot control apparatus, robot system, and method for controlling robot that carries objects in cooperation with human |
| CN105480863B (en) * | 2015-12-30 | 2018-02-16 | 上海佩纳沙士吉打机械有限公司 | Hydraulic grab impacts and posture monitoring system and monitoring method |
| CN111675106A (en) * | 2020-07-31 | 2020-09-18 | 山东省科学院海洋仪器仪表研究所 | Intelligent grab bucket system based on Internet of things and monitoring method |
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| CN101012044A (en) * | 2007-02-09 | 2007-08-08 | 上海港机重工有限公司 | Recording device and method for hoisting machinery operating state |
| CN101870432A (en) * | 2010-06-21 | 2010-10-27 | 浙江赛诺起重机械有限公司 | Remote monitoring maintenance system of garbage grab bucket crane |
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| JP2012116593A (en) * | 2010-11-30 | 2012-06-21 | Ihi Transport Machinery Co Ltd | Apparatus for suppressing swing of bucket of rope-trolley type unloader |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101012044A (en) * | 2007-02-09 | 2007-08-08 | 上海港机重工有限公司 | Recording device and method for hoisting machinery operating state |
| CN201686411U (en) * | 2010-04-06 | 2010-12-29 | 上海多为电子科技有限公司 | Crane lifting monitoring system |
| CN101870432A (en) * | 2010-06-21 | 2010-10-27 | 浙江赛诺起重机械有限公司 | Remote monitoring maintenance system of garbage grab bucket crane |
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