CN104528529A - Control system for automatic operation of marine crane - Google Patents
Control system for automatic operation of marine crane Download PDFInfo
- Publication number
- CN104528529A CN104528529A CN201410801366.9A CN201410801366A CN104528529A CN 104528529 A CN104528529 A CN 104528529A CN 201410801366 A CN201410801366 A CN 201410801366A CN 104528529 A CN104528529 A CN 104528529A
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- China
- Prior art keywords
- control system
- mode
- automatic operation
- operating
- knob switch
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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
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
Abstract
The invention relates to a control system for the automatic operation of a marine crane. The control system comprises a control system body and an operating system, wherein the control system body is respectively connected with a boom protecting device, a position display system and the operating system in a matched way, and an encoder and a mode selection knob switch are adopted; the control system body is respectively combined and connected with the mode selection knob switch and the encoder in the matched way, and the encoder comprises a rotary angle encoder, a beam luffing angle encoder and a hoisting winch encoder; the mode selection knob switch comprises a cargo mode/empty hook mode knob switch, an automatic mode/manual mode/self-learning mode knob switch, and a self-learning starting mode/self-learning finishing mode knob switch, and the operating system comprises a rotary/luffing operating handle and a hoisting operating handle; the beam protecting device adopts a beam protecting radar. The control system has the advantages of low production cost, easiness in operation, and convenience in transformation of the crane. A plurality of transformation funds are not needed, and the purpose of automatic operation can be achieved on the basis of simple transformation of an old crane.
Description
Technical field
The present invention relates to a kind of control system, particularly a kind of control system of deck crane automatic operation.If deck crane configuration the present invention, just can realize some automatic operations in the process of transfer goods.Be equipped with overweight machine peculiar to vessel of the present invention shift in goods adopt automatic operation mode time, be the operation not needing operating personal to participate.Consequent effect it is possible to the labour intensity greatly reducing operating personal.
Background technology
As everyone knows, deck crane is mainly used in the transfer of goods between hull, platform and storeship or land.Deck crane is in each goods transfer, and have the relatively-stationary feature of start bit and terminal position, and the quantity of goods of every batch of transfer is many, monomer volume is relatively fixing.In real work, applicant finds, the work-hours that the operating personal of existing deck crane often lifts by crane consignment is very long, and always repeat, single operation, cause operating personal very tired out thus, thus be the hiding some dangers for of safety misadventure.In order to avoid operating personal is because of the generation of safety misadventure of overwork and initiation tired out, usually, platform requires the crane operator that configuration is abundant aboard ship, particularly on platform, the place of the turnover goods that a few thing is busy, even deck crane will configure the operating personal of more than 3 or 3, so make productive costs greatly increase.
Can various action be carried out during deck crane operation, have suspension arm variable-amplitude action, revolution action, hook lifting action.Deck crane start after, operation deck crane transfer goods be generally divided into hook up, space is moved, off the hook three phases.Hook up and refer to and be suspended on suspension hook by goods, operate deck crane to control goods liftoff simultaneously; Off the hook is after goods arrives destination, and operation goods lands, and is taken off from suspension hook by goods; The stage of opening between hook and off the hook is the space mobile phase of goods, and wherein space mobile phase is the longest stage operating time, accounts for 2/3 time of a goods transfer.Existing overweight machine peculiar to vessel does not also equip automatic operation system, and what generally adopt is manual operation pattern, so the labour intensity of staff is large and productive costs is higher.
Applicant, by thinking after research, if at deck crane equipment automatic operation system, adopt the pattern of automatic operation, will reduce the productive costs that the labour intensity of staff and overweight machine peculiar to vessel expend because of polygamy operating personal greatly.
Summary of the invention
The object of the invention is, for above-mentioned prior art Problems existing, improve, propose and study a kind of control system of deck crane automatic operation.The work that some repeat can be converted to automatic operation at deck crane by goods transfer process by the present invention, and does not need people to participate in, and fundamentally reduces the labour intensity of operating personal, saves human cost.
Basic conception of the present invention is, the three phases for deck crane lifting cargo is all complete present situation by operating personal, the manual operation of goods space mobile phase is changed into the programme controlled automatic operation of hoisting crane.Automatic operation involved in the present invention, is only applicable to the goods of every batch needing transfer, the situation that initial point and point of destination are all basically identical, and the difficulty controlling like this to get up is just little, can meet the actual demand of work.If each goods needing transfer, initial point and point of destination are spatially all widely different, then cannot use.
Technical solution of the present invention is, comprise control system and operating system, it is characterized in that, mode selection knob switch, coder and control system is adopted to combine, operating system adopts operating handle, and control system is by connecting with the combination realization of mode selection knob switch, coder and the operating handle of jib protective device, position display system and operating system.
It is characterized in that, coder comprises degreeof turn coder, luffing range of cantilever support angular encoder, hoister winch coder.
It is characterized in that, mode selection knob switch comprises goods pattern/empty hook pattern rotor switch, automatic mode/manual mode/self-studying mode rotor switch, learns by oneself beginning pattern/self study end mode rotor switch.
It is characterized in that, operating handle comprises revolution/luffing operating handle and the operating handle that hoists.
It is characterized in that, jib protective device adopts jib protection radar.
It is characterized in that, control system have employed Siemens S7-300 series Programmable logic Controller (PLC) PLC.
Principle of work of the present invention is, based on the self study process of control system, in self study process, the data of control system foundation rotary encoder, luffing range of cantilever support angular encoder, hoister winch coder and run duration, form operating curve.Under automatic operation mode, control system controls performance element action according to operating curve.
Innovative point of the present invention is, for deck crane configuration realizes the control system of automatic operation, greatly can save manpower, save production cost, prevent the generation of safety misadventure.Retain M/C simultaneously, operating personal can be selected voluntarily between both automatic operation mode and manual operation mode, meets the demand of real work.The control system volatility adopted is reliable, safety.
Advantage of the present invention is, novel, rational in infrastructure, productive costs is low, simple to operate, be convenient to implement, can effectively increase work efficiency, prevent the generation of unnecessary safety misadventure, and be conducive to the transformation of existing deck crane, can not need to drop into a large amount of transformation fundses, old deck crane carries out the object that simple transformation just can realize automatic operation.
Accompanying drawing explanation
Fig. 1, basic structure schematic diagram of the present invention.
Fig. 2, concrete structure schematic diagram of the present invention.
Below, with reference to the accompanying drawings, embodiments of the invention are described in detail.
As shown in Figure 1 and Figure 2, the present invention includes control system and operating system, mode selection knob switch, coder and control system is adopted to combine, operating system adopts operating handle, and control system is by connecting with the combination realization of mode selection knob switch, coder and the operating handle of jib protective device, position display system and operating system.Coder comprises degreeof turn coder, luffing range of cantilever support angular encoder, hoister winch coder.Jib protective device adopts jib protection radar.Operating handle comprises revolution/luffing operating handle and the operating handle that hoists.Control system realizes several functions convert by operating with mode selection knob switch, encoder assembles, automatically controls revolution, luffing, lifting mechanism action.Control system protects radar, revolution/luffing operating handle respectively with degreeof turn coder, luffing range of cantilever support angular encoder, hoister winch coder, jib, hoist operating handle and position display system connect.
Mode selection knob switch comprises goods pattern/empty hook pattern rotor switch, automatic mode/manual mode/self-studying mode rotor switch, learns by oneself beginning pattern/self study end mode rotor switch.Wherein:
Degreeof turn coder, luffing range of cantilever support angular encoder, hoister winch coder are used for calculating the position of suspension hook, shelve using arm, to reach the upper limit state that hoists be (0, space) coordinate basis point as lift hook position to suspension hook, goes out the locus coordinate relative to coordinate basis point according to the numerical calculation of each coder.The model selection of control system adopts three mode selection knob switches to complete, three mode selection knob switches are respectively goods pattern/empty hook pattern rotor switch, automatic mode/manual mode/self-studying mode rotor switch, learns by oneself beginning pattern/self study end mode rotor switch.
In concrete structure of the present invention, control system have employed the core cell of Siemens S7-300 series Programmable logic Controller (PLC) PLC as control system, this programmable controller PLC adopts Siemens CPU as the computation center of whole control system, the model of Siemens CPU is 6ES7-313-6CG04-4AB1, code device signal is gathered by Siemens's coder detection module (model 6ES7 338-4C01-0AB0), operating handle, the analog signalses such as radar are gathered by Siemens analog detection module (model 6ES7 331-7KF02-0AB0), all collection signals are delivered in this CPU and are calculated, position display module adopts position display system (Siemens touch-screen MP277-10) to complete.Degreeof turn coder, luffing range of cantilever support angular encoder and hoister winch coder all have employed P+F brand coder, and model is AVM58I-011ABA0GN-1213.Mode selection knob switch adopts Shi Naide knob, and model is XB2-BD33C.
The present invention and deck crane support the use.In a certain batch of goods transfer, when needing use that deck crane of the present invention transfer is housed, when being equipped with deck crane of the present invention at transfer first goods, start deck crane, after operating personal operation goods hooks up, first goods pattern is selected, self-studying mode, self study starts mode combinations, after selecting this mode combinations, goods movement self study starts, " hooking up position coordinate " of now control system record suspension hook, then operating personal carries out the space transfer of this goods to preparing off the hook position, in this stage, the opening angle of each operating handle of control system record, corresponding speed and operating time, formed " goods automatic operation curve ".After arriving off the hook position, self study is selected to terminate, control system record " off the hook position coordinate ".
When after goods off-hook, first select empty hook pattern, then select self study to start pattern, suspension hook returns and opens hook position by operating personal operating handle, in this stage, the opening angle of each handle of control system record and corresponding time, is formed " empty hook automatic operation curve ".After arrival hooks up position, then self study is selected to terminate.
So far, the whole self study stage completes.
After the self study stage completes, operating personal transfer goods below, first goods pattern, manual mode is selected, goods is opened hook, and manipulating crane make lift hook position with " hooking up position coordinate " for the center of circle, radius is that this value of 1m(can be set by position display system) scope in, then select automatic mode.Control system will control hoisting crane and will be transferred to " off the hook position coordinate " according to " goods automatic operation curve " by goods, and goods pattern automatic operation terminates.In the process, personnel are not needed to participate in.
After goods pattern automatic operation terminates, select manual mode, operating personal can control goods off the hook by M/C deck crane.
After goods off the hook, need control deck crane to return and hook up position.First operating personal needs in a manual mode, manipulating crane make lift hook position with " off the hook position coordinate " for the center of circle, radius is that this value of 1m(can be set by position display system) scope in, then empty hook pattern, automatic mode could be selected, control system will control crane hook with " empty hook automatic operation curve " after " hooking up position coordinate ", and empty hook pattern automatic operation terminates.In the process, personnel are not needed to participate in.
So far, deck crane completes a goods transfer process, in the process, has the most of the time not need operating personal operating handle to control deck crane, and automatically controls deck crane action by the present invention.
For avoiding accident, the present invention has installed jib collision avoidance radar.
Under automatic operation mode, when detections of radar is to when having an object proximity jib, namely send alerting signal to the present invention, the present invention will react after receiving the alerting signal that radar sends, and terminate automatic operation immediately.
Above-described embodiment is only for illustrating technical conceive of the present invention and realizing bare bones of the present invention; its object is to allow the those skilled in the art understanding the technology of the present invention solution can understand the present invention and contain technology contents; and implement according to this, the protection domain that the technical solution that can not limit the present invention's proposition with this contains.The equivalent transformation that all substantial technological contents proposed according to the present invention are done becomes to modify, and all should be encompassed within protection scope of the present invention.
Claims (6)
1. the control system of a deck crane automatic operation, comprise control system and operating system, it is characterized in that, mode selection knob switch, coder and control system is adopted to combine, operating system adopts operating handle, and control system is by connecting with the combination realization of mode selection knob switch, coder and the operating handle of jib protective device, position display system and operating system.
2. the control system of a kind of deck crane automatic operation according to claim 1, is characterized in that, coder comprises degreeof turn coder, luffing range of cantilever support angular encoder, hoister winch coder.
3. the control system of a kind of deck crane automatic operation according to claim 1, it is characterized in that, mode selection knob switch comprises goods pattern/empty hook pattern rotor switch, automatic mode/manual mode/self-studying mode rotor switch, learns by oneself beginning pattern/self study end mode rotor switch.
4. the control system of a kind of deck crane automatic operation according to claim 1, is characterized in that, operating handle comprises revolution/luffing operating handle and the operating handle that hoists.
5. the control system of a kind of deck crane automatic operation according to claim 1, is characterized in that, jib protective device adopts jib protection radar.
6. the control system of a kind of deck crane automatic operation according to claim 1, is characterized in that, control system have employed Siemens S7-300 series Programmable logic Controller (PLC) PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410801366.9A CN104528529B (en) | 2014-12-22 | 2014-12-22 | Control system for automatic operation of marine crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410801366.9A CN104528529B (en) | 2014-12-22 | 2014-12-22 | Control system for automatic operation of marine crane |
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| Publication Number | Publication Date |
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| CN104528529A true CN104528529A (en) | 2015-04-22 |
| CN104528529B CN104528529B (en) | 2017-05-17 |
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| CN201410801366.9A Active CN104528529B (en) | 2014-12-22 | 2014-12-22 | Control system for automatic operation of marine crane |
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Cited By (3)
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| CN106585883A (en) * | 2016-11-17 | 2017-04-26 | 武汉船用机械有限责任公司 | Sealift system control device |
| CN106672810A (en) * | 2016-12-12 | 2017-05-17 | 徐州建机工程机械有限公司 | Self-learning type intelligent obstacle avoidance control system and method of tower crane |
| CN114368692A (en) * | 2022-03-21 | 2022-04-19 | 杭州杰牌传动科技有限公司 | Intelligent tower crane semi-automatic transmission Internet of things cooperation method and system |
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| CN114368692A (en) * | 2022-03-21 | 2022-04-19 | 杭州杰牌传动科技有限公司 | Intelligent tower crane semi-automatic transmission Internet of things cooperation method and system |
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| CN104528529B (en) | 2017-05-17 |
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