CN104495619B - Horizontal falling compensating method of lifting hook for portal crane luffing mechanism of shipyard - Google Patents
Horizontal falling compensating method of lifting hook for portal crane luffing mechanism of shipyard Download PDFInfo
- Publication number
- CN104495619B CN104495619B CN201410746300.4A CN201410746300A CN104495619B CN 104495619 B CN104495619 B CN 104495619B CN 201410746300 A CN201410746300 A CN 201410746300A CN 104495619 B CN104495619 B CN 104495619B
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- Prior art keywords
- suspension hook
- horizontal
- drop
- shipyard
- curve
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- 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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a horizontal falling compensating method of a lifting hook for a portal crane luffing mechanism of a shipyard. The horizontal falling compensating method comprises the following steps: measuring lifting height changes corresponding to cases that the lifting hook changes at fixed amplitude under a preset load, and figuring out corresponding regulating curves; during working, selecting a closest curve from the regulating curves according to a load by using a current altitude value as a reference value by a moment limiter; and after the amplitude starts changing, judging whether a difference between the reference value and a trajectory of the regulating curve is greater than a preset threshold by the moment limiter, if so, outputting a regulating command to a portal crane control system by the moment limiter, after receiving the regulating command by the portal crane control system, regulating the altitude of a lifting mechanism until the horizontal falling of the lifting hook is less than the preset threshold, and cancelling the regulating command. The horizontal falling compensating method can be used for achieving intelligent compensation of the horizontal falling of the lifting hook, is simple in compensating process and high in compensating efficiency, and ensures that the horizontal falling of the lifting hook meets the requirement of stability when a large-size workpiece is lifted.
Description
Technical field
The present invention relates to a machine suspension hook horizontal compensation of drop in elevation technical field, particularly relate to a kind of for shipyard door machine
The suspension hook horizontal compensation of drop in elevation method of jib lubbing mechanism.
Background technology
At present, significantly door machine uses quite varied at shipyard.But owing to work range is relatively big, becoming
During width work, the track of suspension hook is an irregular curve rather than horizontal line, and this lifts big part to shipyard
Time, bring certain inconvenience.Specifying according to relevant national standard, during luffing work, the level of suspension hook falls
Difference cannot be greater than the 3% of amplitude.Therefore, Pulley Block Compensation and drum compensation can be used when being typically designed simultaneously,
Reduce the horizontal drop of suspension hook, to reach the requirement of standard.Both modes are little in rangeability
In the case of, it is possible to preferably reach effect.But, owing to shipyard door machine general luffing amplitude is very big, i.e.
Making to meet the requirement of 3%, drop is the biggest.As a example by MQ50100 door machine, even across the most reasonable
Mechanical compensation, the maximum drop of suspension hook still reaches 2.1 meters, and stability when lifting big part has bigger
Restriction.
Summary of the invention
It is an object of the invention to by a kind of horizontal compensation of drop in elevation side of suspension hook for shipyard door machine jib lubbing mechanism
Method, solves the problem that background section above is mentioned.
For reaching this purpose, the present invention by the following technical solutions:
A kind of suspension hook horizontal compensation of drop in elevation method for shipyard door machine jib lubbing mechanism, it comprises the steps:
A, measurement suspension hook are under predetermined load every the lifting altitude change corresponding to fixed amplitude change, and
Calculate and adjust curve accordingly；
When B, work, limiter of moment is with current level value as reference value, according to magnitude of load from described adjustment
Curve selects immediate curve；
After C, luffing start, limiter of moment judges the difference between described reference value and described adjustment curvilinear path
Away from whether more than predetermined threshold value, the most then perform step D；
The output of D, limiter of moment adjusts and instructs to door machine control system, and door machine control system receives described adjustment
After instruction, adjust hoisting mechanism height, until the horizontal drop of suspension hook is less than predetermined threshold value, adjusts instruction and cancels.
Especially, described step A specifically includes: measure suspension hook be respectively at zero load, 10 tons, 20 tons, 30
Ton, 40 tons, under 50 tons of load, change every the lifting altitude corresponding to 2 meters of amplitude of variation, and calculate
Go out and adjust curve accordingly, this adjustment curve data is set in the single-chip microcomputer of limiter of moment.
Especially, described step B specifically includes: during work, and limiter of moment passes through lifting height limiter
Upper integrated multi-turn value absolute value encoder calculates current level value and amplitude with inclinometer, and with present level
Value is reference value, selects immediate curve according to magnitude of load from described adjustment curve.
Especially, described inclinometer selects single-shaft inclination angle sensor.
Especially, the predetermined threshold value of the horizontal drop of described suspension hook is set to 0.6 meter.
Compared with the suspension hook horizontal compensation of drop in elevation method such as conventional pulley compensation, drum compensation, the present invention proposes
Suspension hook horizontal compensation of drop in elevation method for shipyard door machine jib lubbing mechanism achieves the intelligence of drop horizontal to suspension hook
Compensating, and compensation process is simple, compensation efficiency is high so that when the horizontal drop of suspension hook meets the lifting of big part
Stability requirement
Accompanying drawing explanation
The horizontal compensation of drop in elevation side of suspension hook for shipyard door machine jib lubbing mechanism that Fig. 1 provides for the embodiment of the present invention
Method flow chart.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.Further need exist for explanation
, for the ease of describing, accompanying drawing illustrate only part related to the present invention rather than full content, remove
Non-defined otherwise, all of technology used herein and scientific terminology and the technical field belonging to the present invention
The implication that technical staff is generally understood that is identical.Term used herein is intended merely to describe concrete enforcement
The purpose of example, it is not intended that in limiting the present invention.Term as used herein " and/or " include one or
Arbitrary and all of combination of multiple relevant Listed Items.
Refer to shown in Fig. 1, the hanging for shipyard door machine jib lubbing mechanism that Fig. 1 provides for the embodiment of the present invention
Hook horizontal compensation of drop in elevation method flow diagram.
In the present embodiment, the suspension hook horizontal compensation of drop in elevation method for shipyard door machine jib lubbing mechanism specifically includes:
S101, measurement suspension hook are under predetermined load every the lifting altitude change corresponding to fixed amplitude change,
And calculate and adjust curve accordingly.
In the present embodiment measure suspension hook be respectively at zero load, 10 tons, 20 tons, 30 tons, 40 tons, 50 tons
Under load, change every the lifting altitude corresponding to 2 meters of amplitude of variation, and calculate and adjust curve accordingly,
This adjustment curve data is set in the single-chip microcomputer of limiter of moment.It should be noted that described default load
The selection of lotus is not limited to and the present embodiment, according to the specific requirement of compensation precision, can select flexibly.
When S102, work, limiter of moment is with current level value as reference value, according to magnitude of load from described
Adjust in curve and select immediate curve.
In the present embodiment, being integrated with multi-turn value absolute value encoder on lifting height limiter, multi-turn value is exhausted
Value encoder is communicated to connect with limiter of moment.During work, if driver needs to do level luffing action,
By the level luffing start button on joint action table, output order is to limiter of moment, and limiter of moment receives
After order, calculate current by multi-turn value absolute value encoder integrated on lifting height limiter and inclinometer
Height value and amplitude, and with current level value as reference value, select from described adjustment curve according to magnitude of load
Select immediate curve.Wherein, described proximity i.e. refers to that gap is minimum.
After S103, luffing start, limiter of moment judges between described reference value and described adjustment curvilinear path
Gap whether more than predetermined threshold value, the most then perform step S104.In presetting threshold described in the present embodiment
Value is set to 0.6 meter, but is not limited to this, can arrange the most flexibly.
The output of S104, limiter of moment adjusts and instructs to door machine control system, and door machine control system is according to receiving
Adjustment instruction after, lifting motor adjusts hoisting mechanism height, until the horizontal drop of suspension hook is less than predetermined threshold value,
Adjust instruction to cancel.Above-mentioned adjustment process triggers to keep the level of suspension hook to fall during luffing is whole repeatedly
Difference is consistently less than pre-set threshold value.Separately, driver can trigger level luffing cancel button or active operation hoists handle
Cancel the operating mode of level luffing at any time.
Technical scheme is tested on 50100 machines of sea, Zhoushan vessel factory, is provided without this
Before bright, suspension hook maximum horizontal drop is 2.1 meters；Use the present invention, in the test of type approval test, open
After dynamic level luffing operating mode, the horizontal drop of suspension hook is all the time in the range of ± 0.6 meter.
Compared with the suspension hook horizontal compensation of drop in elevation methods such as conventional pulley compensation, drum compensation, the technology of the present invention
Scheme achieves the intelligent compensation of drop horizontal to suspension hook, and compensation process is simple, and compensation efficiency is high, makes
The horizontal drop obtaining suspension hook meets stability requirement when big part lifts.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.Those skilled in the art
It will be appreciated that the invention is not restricted to specific embodiment described here, can enter for a person skilled in the art
Row various obvious changes, readjust and substitute without departing from protection scope of the present invention.Therefore, though
So by above example, the present invention is described in further detail, but the present invention be not limited only to
Upper embodiment, without departing from the inventive concept, it is also possible to include other Equivalent embodiments more,
And the scope of the present invention is determined by scope of the appended claims.
Claims (5)
1. the suspension hook horizontal compensation of drop in elevation method for shipyard door machine jib lubbing mechanism, it is characterised in that should
Method includes:
A, measurement suspension hook are under predetermined load every the lifting altitude change corresponding to fixed amplitude change, and
Calculate and adjust curve accordingly；
When B, work, limiter of moment is with current level value as reference value, according to magnitude of load from described adjustment
Curve selects immediate curve；
After C, luffing start, limiter of moment judges the difference between described reference value and described adjustment curvilinear path
Away from whether more than predetermined threshold value, the most then perform step D；
The output of D, limiter of moment adjusts and instructs to door machine control system, and door machine control system receives described adjustment
After instruction, adjust hoisting mechanism height, until the horizontal drop of suspension hook is less than predetermined threshold value, adjusts instruction and cancels.
The horizontal compensation of drop in elevation side of suspension hook for shipyard door machine jib lubbing mechanism the most according to claim 1
Method, it is characterised in that described step A specifically includes: measure suspension hook be respectively at zero load, 10 tons, 20 tons,
30 tons, 40 tons, under 50 tons of load, change every the lifting altitude corresponding to 2 meters of amplitude of variation, and count
Calculate and adjust curve accordingly, this adjustment curve data is set in the single-chip microcomputer of limiter of moment.
The horizontal compensation of drop in elevation side of suspension hook for shipyard door machine jib lubbing mechanism the most according to claim 1
Method, it is characterised in that described step B specifically includes: during work, and limiter of moment is limited by lifting altitude
Multi-turn value absolute value encoder integrated on device processed calculates current level value and amplitude with inclinometer, and with currently
Height value is reference value, selects immediate curve according to magnitude of load from described adjustment curve.
The horizontal compensation of drop in elevation side of suspension hook for shipyard door machine jib lubbing mechanism the most according to claim 3
Method, it is characterised in that described inclinometer selects single-shaft inclination angle sensor.
5. according to the horizontal drop of suspension hook for shipyard door machine jib lubbing mechanism one of Claims 1-4 Suo Shu
Compensation method, it is characterised in that the predetermined threshold value of the horizontal drop of described suspension hook is set to 0.6 meter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410746300.4A CN104495619B (en) | 2014-12-09 | 2014-12-09 | Horizontal falling compensating method of lifting hook for portal crane luffing mechanism of shipyard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410746300.4A CN104495619B (en) | 2014-12-09 | 2014-12-09 | Horizontal falling compensating method of lifting hook for portal crane luffing mechanism of shipyard |
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| Publication Number | Publication Date |
|---|---|
| CN104495619A CN104495619A (en) | 2015-04-08 |
| CN104495619B true CN104495619B (en) | 2017-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410746300.4A Active CN104495619B (en) | 2014-12-09 | 2014-12-09 | Horizontal falling compensating method of lifting hook for portal crane luffing mechanism of shipyard |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117608256B (en) * | 2024-01-23 | 2024-04-09 | 山东朝辉自动化科技有限责任公司 | Method for collaborative planning of multi-machine automatic operation of door machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2222706Y (en) * | 1995-05-06 | 1996-03-20 | 吴文发 | Parabola guide rail type compensating apparatus |
| CN2283642Y (en) * | 1996-07-18 | 1998-06-10 | 吴文发 | Inhaul cable straight-line trunk frame guides type compensation gear |
| CN1439597A (en) * | 2002-02-17 | 2003-09-03 | 曲永治 | Movable arm altitude varying and lifting compensation mechanism |
| CN1775649A (en) * | 2005-11-25 | 2006-05-24 | 武汉理工大学 | Arm crane spar structure jib lubbing mechanism |
| CN201217613Y (en) * | 2007-07-26 | 2009-04-08 | 山东富友有限公司 | Security monitoring management system for tower crane |
| CN201626777U (en) * | 2010-02-10 | 2010-11-10 | 营口大和制衡产业有限公司 | Comprehensive safety protection device of hoisting equipment |
| CN101927965A (en) * | 2009-06-26 | 2010-12-29 | 吴文发 | Right triangle amplitude compensation device |
| CN203486769U (en) * | 2013-11-27 | 2014-03-19 | 天津起重设备有限公司 | Compensatory balance system for four-suspension center large lifting mounting equipment |
| 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 |
-
2014
- 2014-12-09 CN CN201410746300.4A patent/CN104495619B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2222706Y (en) * | 1995-05-06 | 1996-03-20 | 吴文发 | Parabola guide rail type compensating apparatus |
| CN2283642Y (en) * | 1996-07-18 | 1998-06-10 | 吴文发 | Inhaul cable straight-line trunk frame guides type compensation gear |
| CN1439597A (en) * | 2002-02-17 | 2003-09-03 | 曲永治 | Movable arm altitude varying and lifting compensation mechanism |
| CN1775649A (en) * | 2005-11-25 | 2006-05-24 | 武汉理工大学 | Arm crane spar structure jib lubbing mechanism |
| CN201217613Y (en) * | 2007-07-26 | 2009-04-08 | 山东富友有限公司 | Security monitoring management system for tower crane |
| CN101927965A (en) * | 2009-06-26 | 2010-12-29 | 吴文发 | Right triangle amplitude compensation device |
| CN201626777U (en) * | 2010-02-10 | 2010-11-10 | 营口大和制衡产业有限公司 | Comprehensive safety protection device of hoisting equipment |
| CN203486769U (en) * | 2013-11-27 | 2014-03-19 | 天津起重设备有限公司 | Compensatory balance system for four-suspension center large lifting mounting equipment |
| 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 |
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| CN104495619A (en) | 2015-04-08 |
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Address after: 214155 Jiangsu city of Wuxi province Yangshan town Huishan District Yin village Patentee after: WUXI GANGSHENG PORT MACHINERY CO., LTD. Address before: 214156 Jiangsu city of Wuxi province Yangshan town Huishan District Wuxi city land Yin Gangsheng Port Machinery Co Ltd Patentee before: Wuxi Gangsheng Port Machinery Co., Ltd. |