CN104310222B - Gantry crane with function of four-point balance control - Google Patents
Gantry crane with function of four-point balance control Download PDFInfo
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- CN104310222B CN104310222B CN201410582895.4A CN201410582895A CN104310222B CN 104310222 B CN104310222 B CN 104310222B CN 201410582895 A CN201410582895 A CN 201410582895A CN 104310222 B CN104310222 B CN 104310222B
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- frequency converter
- fixed pulley
- reel
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 14
- 239000010959 steel Substances 0.000 claims abstract description 14
- 238000004804 winding Methods 0.000 claims abstract description 9
- 239000000725 suspension Substances 0.000 claims description 36
- 238000004891 communication Methods 0.000 claims description 6
- 238000004873 anchoring Methods 0.000 claims description 2
- 238000005303 weighing Methods 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 239000003638 chemical reducing agent Substances 0.000 abstract 2
- 238000001514 detection method Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a gantry crane with a function of four-point balance control. The gantry crane comprises four hoisting mechanisms and four fixed pulley trolleys, wherein each fixed pulley trolley is provided with a fixed pulley block, a movable pulley block connected with the fixed pulley block in a winding way by a steel wire rope, and a lifting hook fixed on the movable pulley block; each fixed pulley trolley is provided with the corresponding hoisting mechanism, and also comprises a programmable logic controller (PLC); each hoisting mechanism comprises a driving winding drum, a speed reducer used for driving the driving winding drum, and a motor matched with the speed reducer; each motor is driven by a frequency converter; one of the frequency converters is taken as a mainframe frequency converter, and other frequency converters are taken as slave frequency converters; each motor is provided with a rotating speed encoder, and signals output by the rotating speed encoders are respectively fed back into the frequency converters used for driving the corresponding motors; each fixed pulley trolley is provided with a pull rope displacement sensor; the signals are output into PLCs by the pull rope displacement sensors; the signals are output into the frequency converters by the PLCs. The gantry crane is capable of guaranteeing synchronous lifting of four lifting points, and accurately controlling the balance of the four lifting points.
Description
Technical field
The present invention relates to a kind of crane gear, particularly to a kind of straddle truck controlling with 4 points of balances.
Background technology
At present, because equipment manufacture industry is constantly towards development of maximizing, the installation and debugging at scene need to rent large-scale
Heavy equipment, somewhat expensive.The market share with Heavy Product is increasing, and many heavy-duty machine manufacturers are intended to have
The large-scale re-assemble equipment of oneself, to complete Heavy Product in factory and the installation at scene, debugging, and requires crane to pacify
Entirely, stable, reliable, operate steadily, accurately, be easy to dismounting, transport, and can Reusability at random.
Crane hoisting mechanism is the basic composition of any crane, and it is used for realizing the rise and fall of article.Raising
The quality of mechanism's work will directly affect the service behaviour of whole crane.Crane hoisting mechanism, generally by hoisting mechanism (bag
Include motor, brake, decelerator, reel), fixed pulley group, lifting hook pulley group, steel wire rope group, steel wire rope and end fix and
Bascule forms, and four-point lifting crane is typically installed concentratedly lifting mechanism on one or two trolleys, suspension centre
Form also has two kinds, and one kind is that four suspension centres are separate, and this necessarily occurs the situation that only three suspension centres carry, and causes to roll up
Raise machine and the design load of steel rope system is multiplied, another kind is two suspension centres of side in four suspension centres is not have mutually
The independent suspension centre of contact, two suspension centres of opposite side are the balance suspension centres with equalizer pulley and balanced lever as bascule,
I.e. so-called " four-point hoisting three-point balancing ".The gantry crane of hoisting large-size equipment, also referred to as straddle truck, if its four-point lifting
Using independent suspension centre, excessive difference in height can make the load deflections of four suspension centres increase, and raising precision reduces, and easily exceedes steel wire
The safe load of rope；If using balance suspension centre, if if making bascule with balanced lever, can reach not because compensation stroke is short
To counterbalance effect, if making bascule with equalizer pulley, but the uncontrollable rope capacity by equalizer pulley in fact it could happen that
, in peak, another suspension centre is in minimum point cisco unity malfunction for one suspension centre.
Content of the invention
The present invention provides a kind of straddle truck controlling with 4 points of balances for solving technical problem present in known technology.
The present invention is adopted the technical scheme that by solving technical problem present in known technology: a kind of 4 points of balances of band
The straddle truck controlling, including four hoisting mechanisms and four fixed pulley dollies, every described fixed pulley dolly is provided with fixed pulley
Group, the running block being intertwined and connected by steel wire rope and fixed pulley group and be fixed on suspension hook on running block, described in every
Fixed pulley dolly configures a hoisting mechanism, also includes plc, and each hoisting mechanism described includes active reel, drives and actively roll up
The reductor of cylinder and the motor with reductor cooperation, every described motor is by transducer drive, wherein one described frequency converter
As main frame frequency converter, as slave frequency converter, described main frame frequency converter and described slave frequency converter are electric for remaining described frequency converter
Gas connects, and every described motor is equipped with rotating speed coder, and described rotating speed coder output signal feeds back to and drives this motor
Frequency converter；Every described fixed pulley dolly is equipped with displacement sensor for pull rope, described displacement sensor for pull rope output signal feedback
To described plc, described plc outputs signal to described frequency converter.
The present invention can also adopt the following technical scheme that
Also include 2 balancing trolleys, every described balancing trolley is provided with a set of compensation reel, and wirerope-winding is described
Compensate on reel and draw respectively from the described two ends compensating reel, every one end steel wire rope and a fixed pulley dolly determine cunning
Wheel group and running block are wound around, fixing after being then wrapped on described active reel again；The compensation reel of every balancing trolley is equal
It is provided with reel displacement coder, described reel displacement coder output signal feeds back to described plc.
Each described both sides compensating reel is provided with limit switch, and described limit switch output signal feeds back to described
plc.
Also include fieldbus, described displacement sensor for pull rope and described reel displacement coder are all by described scene
Bus is connected with described frequency converter and described plc.
Also include man-machine interface, communicate between described plc and described man-machine interface.
Also include audible-visual annunciator, described plc outputs signal to described audible-visual annunciator.
Described main frame frequency converter is speeds control frequency converter, and described slave frequency converter is direct torque frequency converter.
Every described fixed pulley dolly is provided with two sets of fixed pulley groups and two sets of running blocks；Steel wire rope is wound around shape with symmetrical
Formula is wrapped in described two sets of fixed pulley groups and described two sets of running blocks.
Described four hoisting mechanisms are mounted in pairs on the sill of door frame, and described fixed pulley dolly is arranged on girder
On.
The vehicle frame both sides of every described fixed pulley dolly are provided with anchoring device.
The present invention has the advantages and positive effects that: lifting mechanism controls 4 raising elevators respectively using 4 groups of frequency converters
Mechanism, every frequency converter is all using closed-loop speed feedback control, and wherein one frequency converter is done speed as main frame frequency converter
Control, remaining does direct torque as slave frequency converter, can be able to produce during the load of main frame transducer drive when starting working
One actual inside dtc signal, this dtc signal is inputed to the slave frequency converter doing direct torque, slave frequency converter
An an equal amount of torque can be exported, the torque of such principal and subordinate's frequency converter output is the same, would not there is load distribution uneven
Even phenomenon；Initially, the frequency signal of main frame frequency converter inputs to slave frequency converter as rate limitation, therefore slave frequency converter
Initial velocity identical with the current speed of service of main frame frequency converter.By master ＆ slave control, coordinate synchronization, thus ensureing 4 suspension centres
Lifting synchronous, the balance of four suspension centres of precise control；And adopt four drawstring displacement encoder real-time detections four further
The lifting altitude of suspension hook, by signal input plc of detection, the built-in comparator of plc, in a comparator, by main frame transducer drive
Fixed pulley dolly on drawstring displacement encoder detection signal as reference value, the signal of other drawstring displacement encoders detection
It is compared with reference value respectively, the amplifier such as plc adoption rate integration carries out difference operation, output signal control to input signal
Make corresponding slave frequency converter and carry out fine speed adjustment, improve the balance control accuracy of four suspension centres further；In addition in systems
Signal and data are transmitted using fieldbus such as profibus, hardware and mounting cost can be saved, there is greater flexibility.
Brief description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of the fixed pulley dolly installation displacement sensor for pull rope of the present invention；
Fig. 3 is a direction view of Fig. 2；
Fig. 4 is the structural representation compensating reel installation reel displacement coder of the present invention.
In figure: 1, fixed pulley dolly；2nd, balancing trolley；3rd, compensate reel；4th, fixed pulley group；5th, running block；6th, actively
Reel；7th, suspension hook；8th, horizontally-guided pulley；9th, vertically-guided pulley；10th, displacement sensor for pull rope；11st, reel angular displacement coding
Device.
Specific embodiment
For content of the invention, feature and effect of the present invention can be further appreciated that, hereby enumerate following examples, and coordinate accompanying drawing
Describe in detail as follows:
Refer to Fig. 1～Fig. 4, the straddle truck that a kind of 4 points of balances of band control, slide including four hoisting mechanisms and four are fixed
Wheel dolly 1, every described fixed pulley dolly 1 is provided with fixed pulley group 4, by moving that steel wire rope and fixed pulley group 4 are intertwined and connected
Assembly pulley 5 and be fixed on suspension hook 7 on running block 5, every described fixed pulley dolly 1 configures a hoisting mechanism, each
Hoisting mechanism, through wirerope-winding, drives four suspension hooks 7 to lift, also includes plc, and each hoisting mechanism described includes actively rolling up
Cylinder 6, the reductor driving active reel 6 and the motor with reductor cooperation, every described motor by transducer drive, wherein
, as main frame frequency converter, remaining described frequency converter is as slave frequency converter, described main frame frequency converter and institute for one described frequency converter
State the electrical connection of slave frequency converter, the communication bus such as fieldbus can be passed through and connect, every described motor is equipped with rotating speed coding
Device, described rotating speed coder output signal feeds back to the frequency converter driving this motor；Every described fixed pulley dolly 1 is equipped with and draws
Rope displacement transducer 10, described displacement sensor for pull rope 10 output signal feeds back to described plc, and described plc outputs signal to institute
State frequency converter, to control the work of described frequency converter, the exportable signal of described plc controls the start-stop of four described frequency converters, defeated
Go out synchronous interaction of frequency and four described frequency converters etc..The vehicle frame both sides of every described fixed pulley dolly 1 can be provided with anchor
Determine device.
Further, the present invention may also include 2 balancing trolleys 2, and every described balancing trolley 2 can be provided with a set of compensation
Reel 3, wirerope-winding is drawn on described compensation reel 3 and from the described two ends compensating reel 3 respectively, every one end steel wire rope
It is wound around with the fixed pulley group 4 on a fixed pulley dolly 1 and running block 5, solid after being then wrapped in again on described active reel 6
Fixed；The compensation reel 3 of every balancing trolley 2 all can be provided with reel displacement coder 11, described reel displacement coder 11
Output signal feeds back to described plc.When four suspension hooks 7 lifting altitude deviation is larger, it is arranged on dolly and compensates the volume on reel 3
Cylinder displacement coder 11 also can output signal to plc, can send control signal by plc, stop the output of all frequency converters, then
Manually adjust, to avoid suspension centre uneven, occur four larger situations of lifting mechanism stress difference to occur；Described in each
The both sides compensating reel 3 all can arrange limit switches, and described limit switch output signal feeds back to described plc, can be by setting
Put limit switch and carry out the uneven detection of multiple suspension centre, control signal can be sent by plc, stop the output of all frequency converters, then
Manually adjust, to avoid suspension centre uneven, obtain duplicate protection, to avoid suspension centre uneven, four lifting mechanisms occur
The larger situation of stress difference occurs；Described four hoisting mechanisms can be mounted in pairs on the sill of door frame, described fixed cunning
Wheel dolly 1 may be installed on girder.
On the basis of the above, may also include fieldbus, described displacement sensor for pull rope and described reel angular displacement encode
Device all can be connected with described frequency converter and described plc by described fieldbus.By bus transmissioning data.Fieldbus is optional
With fieldbus such as profibus, can, hardware and mounting cost, system configuration can be saved using fieldbus such as profibus
There is greater flexibility；
In addition, it may further comprise man-machine interface, communicate between described plc and described man-machine interface.Described plc and described man-machine
Interface all can be connected by described fieldbus or other communication bus, by bus transmissioning data.
The speed encoder of hoisting mechanism motor forms vector closed-loop control with the pg card of frequency converter.Reel angular displacement encodes
Device 11, drawstring displacement encoder 10 and frequency converter are connected with buses such as profibus by corresponding communication module, with plc, people
Data is mutually transmitted, the present invention can carry out security monitoring management, man-machine interface by arranging man-machine interface and plc between machine interface
Can be connected with plc by bus, can in real time and plc exchange information.Plc can each extreme position of Real-time Collection switchs, motor turns
The various signals such as fast encoder, the electric current of displacement sensor for pull rope 10, reel displacement coder 11 and frequency converter, voltage,
And passing to man-machine interface, man-machine interface can visually show that the various data of crane each several part (as height, load, runs speed
Degree, net cycle time etc.) and the information such as various defect content (including frequency converter internal fault) and trouble location.
May also include audible-visual annunciator, described plc outputs signal to described audible-visual annunciator.Such as described reel angular displacement
Encoder 11 output signal feeds back to described plc, sets comparator etc. in described plc, and described plc is processed to input signal,
Calculate the difference of the input value from four reel displacement coders, and be compared with a reference value setting, when generation four
When individual suspension hook 7 lifting altitude deviation is larger, the difference of the input value of four reel displacement coders exceedes a reference value, then plc
Send alarm signal to described audible-visual annunciator, audible and visible alarm is sent by described audible-visual annunciator, points out operator.
Above-described embodiment, can adopt to build the control system controlling hoisting mechanism operating with plc for control centre, can be by
Plc is set to host computer, and frequency converter and man-machine interface etc. are set to slave computer, and plc gathers all detection signals and frequency converter
The signals such as electric current, voltage, carry out accurate computing, output accurate Data Control frequency converter operating by internal cpu, and transmit
Data to man-machine interface gives to show.The excellent operation interface of man-machine interface, setting various parameters and control button can be passed through, send out
Give plc, then by plc through operation program, send signal and control frequency converter, indicator lamp and other indicating members.Frequency converter
Operating instruction and speed preset be given by communication modes by plc, plc reads the electric current of frequency converter motor internal, electricity simultaneously
The parameters such as pressure, speed, are shown by touch-screen.Frequency converter to the phase shortage of external circuit, under-voltage etc. differentiate after could be normal
Work.When master controller back to zero, frequency converter first passes through brake unit and carries out electric braking, detects motor speed simultaneously,
When motor speed is close to zero-speed, brake, thus realizing steadily stopping, now blower fan delay cut-off, that is, ensure electronic
Machine reliably cools down, and avoids blower fan repeatedly to start again.Circuit is also by overheated to frequency converter failure, brake unit, hypervelocity, overload, limit
The signal inputs such as position carry out changing to plc, computing, display, control.
Can be with remote operation by data/address bus, by multistage joint control, the balance of precise control four-point lifting straddle truck rises
Hang.
Wherein, above-mentioned frequency converter can be selected for closed loop vector control frequency converter, inside sets comparator, amplifier, and described main frame becomes
Frequency device can be speeds control frequency converter, and described slave frequency converter can be direct torque frequency converter；Above-mentioned displacement sensor for pull rope 10
Absolute value formula displacement sensor for pull rope can be adopted；Above-mentioned reel displacement coder 11 can be using absolute value formula angular displacement coding
Device.
Further, every described fixed pulley dolly 1 can be provided with two sets of fixed pulley groups 4 and two sets of running blocks 5；Steel wire
Rope can be wrapped in described two sets of fixed pulley groups 4 and described two sets of running blocks 5 using symmetrical winding form.
The operation principle of the present invention: lifting mechanism adopts full digital ac variable frequency speed regulation scheme.Lifting mechanism adopts 4 groups
Frequency converter controls 4 raising hoisting mechanisms respectively, and every frequency converter, and will be wherein initial all using closed-loop speed feedback control,
The frequency signal of main frame frequency converter inputs to slave frequency converter as rate limitation, the therefore initial velocity of slave frequency converter and master
The current speed of service of machine frequency converter is identical.By master ＆ slave control, coordinate synchronization, the balance of four suspension centres of precise control；For ensureing
Four suspension centre synchronization liftings, while adopting master ＆ slave control, and adopt four drawstring displacements to compile between four frequency converters further
The lifting altitude of code four suspension hooks of device real-time detection, signal input plc that will detect, the built-in comparator of plc, in a comparator,
Using the drawstring displacement encoder detection signal on the fixed pulley dolly of main frame transducer drive as reference value, other drawstring displacements
Encoder detection signal be compared with reference value respectively, plc can adoption rate integration etc. amplifier input signal is carried out
Difference operation, outputs signal to the alignment circuit of corresponding slave frequency converter, and the output frequency making slave frequency converter is in original frequency
Being finely adjusted on the basis of rate, thus carrying out fine speed adjustment, improving the balance control accuracy of four suspension centres further.For example, drive
The frequency converter of 1# active reel is set to main frame frequency converter, then the 1# drawstring that the 1# fixed pulley dolly being associated with 1# active reel is installed
The value that displacement encoder detects is reference value, if the value that 2# drawstring displacement encoder detects is more than reference value, 2# is actively
Reel is associated with 2# fixed pulley dolly, then main frame frequency converter, according to difference output signal, makes the slave of driving 2# active reel become
The output frequency of frequency device accordingly reduces fine setting, thus finely tuning the speed reducing 2# motor；On the contrary, if 2# drawstring displacement encoder
The value detecting is less than reference value, then main frame frequency converter, according to difference output signal, makes the slave frequency conversion of driving 2# active reel
The output frequency of device accordingly reduces fine setting, thus finely tuning the speed improving 2# motor, real-time adjustment.When four suspension hook lifting altitudes
When deviation is larger, the reel displacement coder being arranged on dolly compensation reel also can output signal to plc, main frame frequency converter
Send signal, stop the output of all frequency converters, more manually adjust, suspension centre is uneven to occur four lifting mechanisms to avoid
The larger situation of stress difference occurs.By master ＆ slave control, coordinate synchronization, thus ensureing the lifting synchronization of 4 suspension centres, to four
The balance of suspension centre carries out precise control；In addition in systems hardware and installation fee can be saved using fieldbus such as profibus
With having greater flexibility；Setting plc, man-machine interface, it is possible to use the various detection signal of plc concentrated collection, transmission gives people
Machine interface is shown, is adjusted manually by man-machine interface, data is arranged and status display, facilitates operating personnel to operate.
Frequency converter, using the heavy-load frequency converter being exclusively used in lifting mechanism, forms closed loop arrow by encoder velocity feedback
Amount control system.Torque response is fast, and dynamic property is good.The run signal of frequency converter and speed preset can pass through communication side by plc
Formula is given, the parameter such as the electric current of the frequency converter motor internal of plc reading simultaneously, voltage, speed, is shown by touch-screen.Become
Frequency device to the phase shortage of external circuit, under-voltage etc. differentiate after could normal work.When master controller back to zero, frequency converter is logical first
Cross brake unit and carry out electric braking, detect motor speed simultaneously, when motor speed is close to zero-speed, brake, thus
Realize steadily stopping, now blower fan delay cut-off, that is, ensure that motor reliably cools down, and avoids blower fan repeatedly to start again.Circuit is also
By overheated to frequency converter failure, brake unit, hypervelocity, overload, the signal input such as spacing to plc.
The present invention can carry out security monitoring management by arranging man-machine interface and plc, and when the machine any position, appearance is any
During fault, associated mechanisms all can be automatically stopped work, have display and with sound and light alarm in man-machine interface simultaneously.In display
Hold and include: defect content, trouble location (related components and parts item designation), fix a breakdown in time in order to maintenance personal and enter
Row maintenance.
Although being described to the preferred embodiments of the present invention above in conjunction with accompanying drawing, the invention is not limited in
The specific embodiment stated, above-mentioned specific embodiment is only schematically, is not restricted, this area common
Technical staff, under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, also may be used
To make a lot of forms, these belong within protection scope of the present invention.
Claims (9)
1. a kind of straddle truck controlling with 4 points of balances, including four hoisting mechanisms and four fixed pulley dollies, every described fixed
Pulley trolley is provided with fixed pulley group, the running block being intertwined and connected by steel wire rope and fixed pulley group and is fixed on movable pulley
Suspension hook in group, every described fixed pulley dolly configures a hoisting mechanism it is characterised in that also including plc, each described volume
Raise mechanism and include active reel, the reductor driving active reel and the motor with reductor cooperation, every described motor by
Transducer drive, as main frame frequency converter, remaining described frequency converter is as slave frequency converter, described for wherein one described frequency converter
Main frame frequency converter and the electrical connection of described slave frequency converter, every described motor is equipped with rotating speed coder, described rotating speed coding
Device output signal feeds back to the frequency converter driving this motor；Every described fixed pulley dolly is equipped with displacement sensor for pull rope, institute
State displacement sensor for pull rope output signal and feed back to described plc, described plc outputs signal to described frequency converter；Also include 2 to put down
Weighing apparatus dolly, every described balancing trolley is provided with a set of compensation reel, and wirerope-winding is on described compensation reel and from described
The two ends compensating reel are drawn respectively, and the fixed pulley group on every one end steel wire rope and a fixed pulley dolly and running block twine
Around fixing after being then wrapped in again on described active reel；The compensation reel of every balancing trolley is equipped with reel angular displacement and compiles
Code device, described reel displacement coder output signal feeds back to described plc.
2. the straddle truck controlling with 4 points of balances according to claim 1 is it is characterised in that each described compensates reel
Both sides are provided with limit switch, and described limit switch output signal feeds back to described plc.
3. according to claim 1 with 4 points balance control straddle truck it is characterised in that also including fieldbus, institute
State displacement sensor for pull rope and described reel displacement coder all by described fieldbus and described frequency converter and described plc
It is connected.
4. according to claim 1 with 4 points balance control straddle truck it is characterised in that also including man-machine interface, institute
State communication between plc and described man-machine interface.
5. according to claim 1 with 4 points balance control straddle truck it is characterised in that also including audible-visual annunciator,
Described plc outputs signal to described audible-visual annunciator.
6. the straddle truck with 4 points of balance controls according to claim 1 is it is characterised in that described main frame frequency converter is speed
Degree controls frequency converter, and described slave frequency converter is direct torque frequency converter.
7. the straddle truck controlling with 4 points of balances according to claim 1 is it is characterised in that every described fixed pulley dolly
It is provided with two sets of fixed pulley groups and two sets of running blocks；Steel wire rope with symmetrical winding form be wrapped in described two sets of fixed pulley groups and
On described two sets of running blocks.
8. the straddle truck with 4 points of balance controls according to claim 1 is it is characterised in that described four hoist engines are constituted
It is arranged on over the ground on the sill of door frame, described fixed pulley dolly is arranged on girder.
9. the straddle truck controlling with 4 points of balances according to claim 1 is it is characterised in that every described fixed pulley dolly
Vehicle frame both sides be provided with anchoring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410582895.4A CN104310222B (en) | 2014-10-27 | 2014-10-27 | Gantry crane with function of four-point balance control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410582895.4A CN104310222B (en) | 2014-10-27 | 2014-10-27 | Gantry crane with function of four-point balance control |
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| Publication Number | Publication Date |
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| CN104310222A CN104310222A (en) | 2015-01-28 |
| CN104310222B true CN104310222B (en) | 2017-01-25 |
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| CN201410582895.4A Expired - Fee Related CN104310222B (en) | 2014-10-27 | 2014-10-27 | Gantry crane with function of four-point balance control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104860173A (en) * | 2015-05-19 | 2015-08-26 | 上海德圣米高电梯有限公司 | Synchronous control system for four tractors of elevator |
| CN104843567A (en) * | 2015-05-19 | 2015-08-19 | 上海德圣米高电梯有限公司 | Synchronous control system for double traction machines of lift |
| CN107337133A (en) * | 2017-08-15 | 2017-11-10 | 江苏领焰智能科技股份有限公司 | Switch board and Electric hoist system |
| CN108683384B (en) * | 2018-04-12 | 2020-06-05 | 深圳市海浦蒙特科技有限公司 | Multi-hoisting frequency converter synchronous control method and system |
| CN109368504A (en) * | 2018-12-20 | 2019-02-22 | 辽宁忠旺机械设备制造有限公司 | The synchronous control system of 4 hoists |
| CN110333731A (en) * | 2019-07-01 | 2019-10-15 | 中煤第五建设有限公司 | A kind of sinking platform suspending system intelligent balance control device and method |
| CN113060681B (en) * | 2021-03-01 | 2022-07-19 | 中国长江电力股份有限公司 | Lifting method of lifting device of large-scale runner maintenance platform |
| CN114084802A (en) * | 2021-11-19 | 2022-02-25 | 徐州建机工程机械有限公司 | Double-closed-loop master-slave synchronous control system for multiple mechanisms of tower crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101345505A (en) * | 2008-05-14 | 2009-01-14 | 中信重工机械股份有限公司 | Electric synchronization control method of four frequency conversion motors with double winding drums and double hanging points |
| CN101565930A (en) * | 2009-06-02 | 2009-10-28 | 天津市市政工程研究院 | Movable span lifting device of vertical lift balance bridge |
| CN103287983A (en) * | 2013-04-24 | 2013-09-11 | 交通运输部水运科学研究所 | Gantry-type four-drum wheeled crane |
| CN103663165A (en) * | 2013-11-27 | 2014-03-26 | 天津起重设备有限公司 | Intelligentized four-lifting-point auto-compensation balance large lifting assembling device |
| CN204251220U (en) * | 2014-10-27 | 2015-04-08 | 天津起重设备有限公司 | The gauntry crane that a kind of 4, band balance controls |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003267660A (en) * | 2002-03-19 | 2003-09-25 | Mitsui Eng & Shipbuild Co Ltd | Container positioning device for gantry crane |
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2014
- 2014-10-27 CN CN201410582895.4A patent/CN104310222B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101345505A (en) * | 2008-05-14 | 2009-01-14 | 中信重工机械股份有限公司 | Electric synchronization control method of four frequency conversion motors with double winding drums and double hanging points |
| CN101565930A (en) * | 2009-06-02 | 2009-10-28 | 天津市市政工程研究院 | Movable span lifting device of vertical lift balance bridge |
| CN103287983A (en) * | 2013-04-24 | 2013-09-11 | 交通运输部水运科学研究所 | Gantry-type four-drum wheeled crane |
| CN103663165A (en) * | 2013-11-27 | 2014-03-26 | 天津起重设备有限公司 | Intelligentized four-lifting-point auto-compensation balance large lifting assembling device |
| CN204251220U (en) * | 2014-10-27 | 2015-04-08 | 天津起重设备有限公司 | The gauntry crane that a kind of 4, band balance controls |
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| CN104310222A (en) | 2015-01-28 |
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