CN105540419A - Multi-rope lifting system and method - Google Patents
Multi-rope lifting system and method Download PDFInfo
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- CN105540419A CN105540419A CN201510969535.4A CN201510969535A CN105540419A CN 105540419 A CN105540419 A CN 105540419A CN 201510969535 A CN201510969535 A CN 201510969535A CN 105540419 A CN105540419 A CN 105540419A
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
- B66C1/16—Slings with load-engaging platforms or frameworks
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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
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/26—Rope, cable, or chain winding mechanisms; Capstans having several drums or barrels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/485—Control devices automatic electrical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to the field of harbor machinery and discloses a multi-rope lifting system and method. The multi-rope lifting system comprises a lifting appliance, N lifting ropes used for lifting the lifting appliance, N roller control mechanisms in one-to-one correspondence with the N lifting ropes, and a controller electrically connected with the N roller control mechanisms. The controller sends rope take-up position control signals to the N roller control mechanisms, also detects the torque of the roller control mechanisms and judges whether the phenomenon that the unloaded lifting appliance controlled by the N lifting ropes is not horizontal exists or not according to the detected torque of the roller control mechanisms. If the phenomenon that the unloaded lifting appliance is not horizontal exists, the unloaded lifting appliance is adjusted to be in the horizontal direction by controlling the roller control mechanisms. By the adoption of the system and method, movement in six degrees of freedom can be achieved, the situation that the lifting appliance is not horizontal and overweighted can also be avoided, and accordingly the safety coefficient in the lifting process is increased, and the accident probability is lowered.
Description
Technical field
The present invention relates to harbour machinery field, particularly one is restricted tackling system and method thereof more.
Background technology
Along with expanding economy, the increase of the port capacity, the efficiency of cranage freight container is more and more subject to people's attention with safety.
At present, multiple lifting ropes on hoisting crane are generally controlled by same cylinder, although the method saves cost, but suspender cannot be realized can move on six-freedom degree, and hoisting crane is when loading and unloading container, because of position or the wear reason of gravity, installation reason, restraint of loads, by the freight container discontinuity that suspender is sling, thus cause freight container to put forward injustice, there is non-horizontal phenomenon.Freight container non-horizontal or overweight meeting make hoisting crane freight container when loading and unloading container easily come off, thus easily injure field staff and facility by a crashing object, cause unnecessary economic loss.And freight container is overweight also may damage equipment, reduces the service life of equipment.
Summary of the invention
The object of the present invention is to provide much more a kind of rope tackling system and method thereof, make the movement that not only can be implemented on six-freedom degree, non-horizontal, overweight can also be avoided, thus improve the safety factor in lifting process, reduce accident probability.
For solving the problems of the technologies described above, embodiments of the present invention provide a kind of tackling system of restricting more, comprise: suspender, for lifting by crane N number of lifting rope of this suspender, it is characterized in that, also comprise: with described N number of lifting rope N number of cylinder control mechanism one to one, described cylinder control mechanism for controlling the folding and unfolding of corresponding lifting rope, described N be greater than 1 natural number; The controller be electrically connected with described N number of cylinder control mechanism, for sending the position control signal of rope closing to each cylinder control mechanism, and detecting the torque of each cylinder control mechanism, described unloaded suspender is adjusted to level attitude by the torque according to each cylinder control mechanism detected.
Embodiments of the present invention additionally provide a kind of hoisting method of restricting more, comprise following steps: controller sends rope closing to N number of cylinder control mechanism or puts the position control signal of rope; Wherein, N number of cylinder control mechanism and N number of lifting rope one_to_one corresponding, described cylinder control mechanism for controlling the folding and unfolding of corresponding lifting rope, described N be greater than 1 natural number; Described controller detects the torque of each cylinder control mechanism, and according to the torque of each cylinder control mechanism detected, judges whether the unloaded suspender that described N number of lifting rope controls exists non-horizontal phenomenon; If there is non-horizontal phenomenon, then by the control to each described cylinder control mechanism, described unloaded suspender is adjusted to level attitude.
In terms of existing technologies, owing to restricting, tackling system comprises embodiment of the present invention more: suspender, for lift by crane this suspender N number of lifting rope, with N number of lifting rope N number of cylinder control mechanism and controller of being electrically connected with N number of cylinder control mechanism one to one.The controller be electrically connected with N number of cylinder control mechanism can detect the torque of each cylinder control mechanism, judge whether the unloaded suspender that N number of lifting rope controls exists non-horizontal phenomenon, if there is non-horizontal phenomenon, then by year cylinder control mechanism control, unloaded suspender is adjusted to level attitude, but also can be judged whether overweight by the torque detected, so non-horizontal can be avoided overweight by said system and method; Again due to N number of cylinder control mechanism and N number of lifting rope one_to_one corresponding, so can be implemented in the movement on six-freedom degree, thus improve the safety factor in lifting process, reduce accident probability.
In addition, described cylinder control mechanism comprises: cylinder, synchronous dynamo and servo-driver; Described synchronous dynamo is arranged on described cylinder, and described servo-driver is connected with described synchronous dynamo; Described servo-driver is for driving described motor.Synchronous dynamo is mainly as motor running, and electric current and torque are directly proportional.Servo-driver exports to the electric current of synchronous dynamo by detecting, obtain torque, have position precision high, respond fast advantage, and can improve the structure of many rope tackling systems by said structure.
In addition, described cylinder control mechanism comprises: cylinder, asynchronous dynamo, coder and servo-driver; Described asynchronous dynamo is installed on described cylinder, and described coder is installed on described asynchronous dynamo; Described servo-driver is connected with described asynchronous dynamo; Described servo-driver is for driving described motor.Energy converting between mechanical is mechanical energy by asynchronous dynamo, and coder can calculate the folding and unfolding distance of lifting rope, and whether the folding and unfolding Distance Judgment of the lifting rope that controller is calculated by coder exists non-horizontal phenomenon, thus lifting rope is adjusted to level attitude; And the structure of many rope tackling systems can be improved by said structure.
In addition, also comprise: L distance measuring sensor; Described L be greater than 1 natural number; A described L distance measuring sensor is installed on the bottom of described suspender.Laser sensor error is little, can detect the distance of suspender to ground or freight container, thus whether auxiliary detection suspender exists non-horizontal phenomenon by irreflexive light.
In addition, the closest range of the installation site of each described distance measuring sensor and the drift angle of described suspender, is less than pre-determined threshold.Further raising detects the precision whether suspender exists non-horizontal phenomenon.
In addition, described L is more than or equal to 4.Distance measuring sensor quantity is more, and result of a measurement is more accurate, and the precision whether detection suspender exists non-horizontal phenomenon is also higher.
In addition, described N is 8.Eight rope suspenders are current application anti roll devices widest in area, adopt eight ropes to be conducive to popularization of the present invention.
Accompanying drawing explanation
Fig. 1 is the structural representation according to first embodiment of the invention many ropes tackling system;
Fig. 2 is the block diagram according to first embodiment of the invention cylinder control mechanism;
Fig. 3 is the block diagram according to second embodiment of the invention cylinder control mechanism;
Fig. 4 is the structural representation according to third embodiment of the invention many ropes tackling system;
Fig. 5 is the schematic flow sheet according to four embodiment of the invention many ropes hoisting method.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the embodiments of the present invention are explained in detail.But, persons of ordinary skill in the art may appreciate that in each embodiment of the present invention, proposing many ins and outs to make reader understand the application better.But, even without these ins and outs with based on the many variations of following embodiment and amendment, each claim of the application technical scheme required for protection also can be realized.
First embodiment of the present invention relates to a kind of tackling system of restricting more.Comprise as shown in Figure 1: suspender 1, for this suspender of slinging N number of lifting rope 2, with N number of lifting rope N number of cylinder control mechanism 3, controller (not shown) of being electrically connected with N number of cylinder control mechanism one to one.Wherein, lifting rope 2 one end is fixed on suspender 1, and the other end is wound in corresponding cylinder control mechanism 3, and cylinder control mechanism 3 is electrically connected on controller.Cylinder control mechanism is for controlling the folding and unfolding of corresponding lifting rope, controller is used for the position control signal sending rope closing to each cylinder control mechanism, and detect the torque of each cylinder control mechanism, torque according to each cylinder control mechanism detected judges whether unloaded suspender exists non-horizontal phenomenon, if there is non-horizontal phenomenon, unloaded suspender is adjusted to level attitude by controller index drum control mechanism.
As shown in Figure 2, cylinder control mechanism comprises: cylinder, synchronous dynamo, servo-driver.Wherein, synchronous dynamo is arranged on cylinder; Servo-driver is connected with synchronous dynamo, and servo-driver is used for drive motor, and adopts position control mode.
Specifically, in the present embodiment, N can be 8.Namely this many ropes tackling system comprises: suspender, for this suspender of slinging 8 lifting ropes, with 8 lifting ropes, 8 cylinder control mechanisms, the controller that is electrically connected with 8 cylinder control mechanisms one to one.Because 8 rope tackling systems all have two ropes to be triangles in the horizontal direction, so have certain rigidity, even if can ensure freight container, a little bias also can level of approximation.But, when freight container eccentric and overweight time, can deformation be there is in the bindiny mechanism of rope and rope, cause freight container out-of-level, now need to adjust according to the torque of each rope, the lifting rope that controller controls control mechanism large to torque carries out rope closing, and the lifting rope little to torque puts rope, thus makes container level.
Detailed description of the invention is as follows: in lifting process, controller detects the torque of each cylinder control mechanism, synchronous dynamo due to what adopt in present embodiment, so export to the electric current of motor and torque is directly proportional, that is controller can measure the size of the torque of this cylinder control mechanism according to the electric current exporting to each cylinder control mechanism.Then, controller is according to judging that whether the torque of each cylinder control mechanism detected is identical, judge whether the unloaded suspender that N number of lifting rope controls exists non-horizontal phenomenon, if detect, the torque phase of each cylinder control mechanism is same, so, there is not non-horizontal phenomenon and be namely horizontal in this unloaded suspender, controller sends the position control signal of rope closing to N number of cylinder control mechanism; If detect, the torque of each cylinder control mechanism is not identical, and so controller controls each cylinder control mechanism and unloaded suspender is adjusted to level attitude, then sends the position control signal of rope closing to N number of cylinder control mechanism.Such as, the torque of cylinder control mechanism A, B, C, D is 500 newton meteies, the torque of cylinder control mechanism E, F, G, H is 600 newton meteies, controller can strengthen by rope closing the electric current exporting to cylinder control mechanism A, B, C, D, increase its torque to 600 newton meter, thus unloaded suspender is adjusted to level attitude.Unloaded suspender is adjusted to level, operates when only needing to safeguard after a certain time.Finally, when unloaded suspender captures freight container, if torque is equal, there is not non-horizontal phenomenon, instead then there is non-horizontal phenomenon.There is non-horizontal phenomenon and the large lifting rope of torque can be caused to have tensile deformation in suspender, at this moment need to compensate according to the size of each lifting rope torque, such as, the torque of A, B, C, D is 500 newton meteies, the torque of cylinder control mechanism E, F, G, H is 600 newton meteies, the lifting rope of E, F, G, H can be received some distances by controller, thus makes container level, and the distance of rope closing is relevant with the currency of torque and mutual difference.
In addition, in lifting process, can also judge that whether freight container is overweight by the torque detecting each cylinder control mechanism.Such as the torque of 8 cylinder control mechanisms is 5000 newton meteies, if the overweight preset torque of freight container is 4000 newton meteies, so because the torque of cylinder control mechanism is greater than preset torque, so controller can judge that this freight container is overweight.
It is worth mentioning that, due to cylinder control mechanism and lifting rope one_to_one corresponding, so controller can pass through index drum control mechanism, control the lifting rope corresponding with cylinder control mechanism, thus realize the movement of suspender on six-freedom degree, finally can domination set vanning accurate setting point with capture point.
By present embodiment, the movement of suspender on six-freedom degree can be realized, non-horizontal, overweight can also be avoided, thus improve the safety factor in lifting process, reduce accident probability.
Second embodiment of the present invention relates to a kind of tackling system of restricting more.Second embodiment is roughly the same with the first embodiment, and key distinction part is: in the first embodiment, and cylinder control mechanism comprises synchronous dynamo.And in second embodiment of the invention, cylinder control mechanism comprises asynchronous dynamo and coder.Whether the folding and unfolding Distance Judgment suspender of the lifting rope that controller is calculated by coder exists non-horizontal phenomenon.
Many ropes tackling system structure in present embodiment is identical with the first embodiment, but as shown in Figure 3, cylinder control mechanism comprises: cylinder, asynchronous dynamo, coder and servo-driver.Wherein, asynchronous dynamo is installed on cylinder, and coder is installed on asynchronous dynamo; Servo-driver is connected with asynchronous dynamo, and servo-driver is for driving described motor.
Specifically, N also adopts 8, in lifting process, coder calculates the folding and unfolding distance of lifting rope in real time, send a signal to controller, the folding and unfolding distance of the lifting rope that controller is calculated by coder ensures positional precision, then as the first embodiment, judges whether suspender exists non-horizontal phenomenon according to torque.After level-off, if the folding and unfolding of each lifting rope is apart from identical, so there is not skewness and be namely horizontal in this suspender, and controller sends the position control signal of rope closings to 8 cylinder control mechanisms, continues lifting work; If the folding and unfolding distance of each lifting rope is different, so suspender is adjusted to level attitude by controlling each cylinder control mechanism by controller.Such as, lifting rope A, B, C, D draw over to one's side distance 1 meter, the distance of drawing over to one's side of lifting rope E, F, G, H is 1.1 meters, so, controller can by strengthening the electric current of cylinder control mechanism A, B, C, D of exporting to corresponding to lifting rope A, B, C, D, make it draw over to one's side distance to 1.1 meter, thus adjustment suspender is to level attitude.
By present embodiment can be flexible and changeable realize the present invention, thus be conducive to popularization of the present invention.
3rd embodiment of the present invention relates to a kind of tackling system of restricting more, and the improvements of the 3rd embodiment and the first embodiment are, many ropes tackling system of the 3rd embodiment also comprises: L distance measuring sensor.
In present embodiment, many rope tackling systems also comprise L distance measuring sensor, wherein, L be greater than 1 natural number, L distance measuring sensor is installed on the bottom of suspender.
In the present embodiment, can judge whether suspender exists non-horizontal phenomenon by the torque detecting each cylinder control mechanism, detailed description of the invention as described in the first embodiment, does not repeat herein; Can also judge whether suspender exists non-horizontal phenomenon by distance measuring sensor.Specifically, as shown in Figure 3, L adopts 4, namely has 4 distance measuring sensors, and is arranged on four corners of suspender respectively.In lifting process, distance measuring sensor emission of light, light is linearly propagated and is run into obstacle (ground or freight container) and return through reflecting former road, distance measuring sensor receives reflected light rays, by calculating emission of light to the time difference receiving light, then according to time × light velocity, the distance of suspender to obstacle (ground or freight container) can be measured.Whether the distance measured according to distance measuring sensor of controller is identical judges whether suspender exists non-horizontal phenomenon, if the distance that distance measuring sensor is measured is identical, so there is not non-horizontal phenomenon in suspender, if the distance that distance measuring sensor is measured is not identical, so suspender exists non-horizontal phenomenon.Such as, the lifting rope of distance measuring sensor A, D homonymy is lifting rope A, B, C, D, the lifting rope of distance measuring sensor E, H homonymy is lifting rope E, F, G, H, the distance that distance measuring sensor A, D measure is 1 meter, the distance that distance measuring sensor E, H measure is 1.1 meters, so controller by strengthening the electric current of cylinder control mechanism A, B, C, D of exporting to corresponding to lifting rope A, B, C, D, thus can be adjusted to suspender to level attitude.
Preferably, the closest range of the installation site of each distance measuring sensor and the drift angle of suspender, is less than pre-determined threshold; L is more than or equal to 4, can improve the precision whether detection exists non-horizontal phenomenon further.
It is worth mentioning that, because the plastic deformation of lifting rope is inconsistent, the drop-gear box be arranged on motor has wearing and tearing, cylinder also may have wearing and tearing, therefore along with the growth of period of service, the reception and transmission range of lifting rope can be inconsistent, under the prior art, cannot adjust the length of cylinder and lifting rope, but embodiments of the present invention can eliminate the error because the plastic deformation of rope or installation question produce by the mode that water detection is flat.Such as: the torque that can be detected each cylinder control mechanism by controller, judges whether suspender is horizontal.Also can be corresponded to the reduction ratio of the retarder of the inconsistent lifting rope of transmitting-receiving by adjustment, such as, the cylinder corresponding to certain lifting rope in the past turns 1 circle, and motor turns 10 circles, and be adjusted to now this cylinder and turn 1 circle, motor turns 11 circles.Suspender whether level can also be judged by distance measuring sensor.Whether distance measuring sensor, by detecting suspender to the distance of obstacle, after judging lifting appliance moving, also keeps level.
By present embodiment, embodiments of the present invention not only can be made more flexible and changeable, the accuracy rate judging whether to there is non-horizontal phenomenon can also be improved further.
Four embodiment of the invention relates to a kind of hoisting method of restricting more.Idiographic flow as shown in Figure 5.
Step 501, controller sends the position control signal of rope closing to N number of cylinder control mechanism.
Specifically, controller sends the position control signal of rope closing to N number of cylinder control mechanism, and cylinder control mechanism controls lifting rope rope closing, and suspender is sling freight container, starts lifting work.
Step 502, controller detects the torque of each cylinder control mechanism.
Specifically, owing to adopting synchronous dynamo in present embodiment, so export to the electric current of motor and torque is directly proportional, that is controller can measure the size of the torque of this cylinder control mechanism according to the electric current exporting to each cylinder control mechanism.Such as, the electric current exporting to cylinder control mechanism A is 10 amperes, the direct ratio coefficient of electric current and torque is 100, so can show according to torque=fixed coefficient × electric current that the size of the torque of cylinder control mechanism A is 100 × 10 i.e. 1000 newton meteies, the level of torque of each cylinder control mechanism can be measured by the method, then enter step 503.
Step 503, judges whether the unloaded suspender that N number of lifting rope controls exists non-horizontal phenomenon.
Specifically, whether turning of each cylinder control mechanism that controller is measured according to step 502 be identical, judges whether the unloaded suspender that N number of lifting rope controls exists non-horizontal phenomenon.If the torque phase of each cylinder control mechanism is same, there is not non-horizontal phenomenon in so unloaded suspender, enters step 505; If the torque of each cylinder control mechanism is not identical, so can judges that unloaded suspender exists non-horizontal phenomenon, enter step 504.Such as, the torque of measuring cylinder control mechanism A, B, C, D is 500 newton meteies, the torque of cylinder control mechanism E, F, G, H is 600 newton meteies, because the torque of cylinder control mechanism A, B, C, D is different from the torque of cylinder control mechanism E, F, G, H, so can judge that suspender exists non-horizontal phenomenon, enter step 504.
Step 504, is adjusted to level by unloaded suspender.
Specifically, the size of each cylinder control mechanism torque that controller is measured according to step 503, is increased by the change in location of withdrawing rope or reduces to export to the outgoing current of control mechanism, thus the level of torque of index drum control mechanism, unloaded suspender is adjusted to level, enters step 505.Such as, the torque of measuring cylinder control mechanism A, B, C, D is 500 newton meteies, the torque of cylinder control mechanism E, F, G, H is 600 newton meteies, controller can strengthen by rope closing the electric current exporting to cylinder control mechanism A, B, C, D, increase its torque to 600 newton meter, thus unloaded suspender is adjusted to level attitude.Controller also can put the electric current that rope reduces to export to the torque of cylinder control mechanism E, F, G, H, reduces its torque to 500 newton meter, thus its unloaded suspender is adjusted to level.Certainly, controller can also increase the electric current exporting to cylinder control mechanism A, B, C, D, while reduce the electric current exporting to cylinder control mechanism E, F, G, H, makes eight torque phases same, thus its suspender is adjusted to level.
Step 505, judges whether the load suspender that N number of lifting rope controls exists non-horizontal phenomenon.
Specifically, whether controller is identical according to the torque of each cylinder control mechanism that step 502 is measured, and judges whether the load suspender that N number of lifting rope controls exists non-horizontal phenomenon.After load suspender captures freight container, if torque is equal, be horizontal, there is not non-horizontal phenomenon, return step 501; Torque is unequal, there is non-horizontal phenomenon, enters step 506.
Step 506, is adjusted to level by load suspender.
When there is non-horizontal phenomenon in load suspender, the lifting rope that torque can be caused large produces tensile deformation, need to compensate according to the size of each lifting rope torque, such as, the torque of A, B, C, D is 500 newton meteies, and the torque of cylinder control mechanism E, F, G, H is 600 newton meteies, and the rope of E, F, G, H can be received some distances by controller, thus making container level, the distance of receipts is relevant with torque currency and mutual difference.Adjust complete, enter step 501.
The step of various method divides above, just in order to be described clearly, can merge into a step or splitting some step, being decomposed into multiple step, when realizing as long as comprise identical logical relation, all in the protection domain of this patent; To adding inessential amendment in algorithm or in flow process or introducing inessential design, but the core design not changing its algorithm and flow process is all in the protection domain of this patent.
Be not difficult to find, present embodiment is the embodiment of the method corresponding with the first embodiment, and present embodiment can be worked in coordination with the first embodiment and be implemented.The relevant technical details mentioned in first embodiment is still effective in the present embodiment, in order to reduce repetition, repeats no more here.Correspondingly, the relevant technical details mentioned in present embodiment also can be applicable in the first embodiment.
Persons of ordinary skill in the art may appreciate that the respective embodiments described above realize specific embodiments of the invention, and in actual applications, various change can be done to it in the form and details, and without departing from the spirit and scope of the present invention.
Claims (10)
1. to restrict a tackling system more, comprise suspender, for lifting by crane N number of lifting rope of this suspender, it is characterized in that, also comprise:
With described N number of lifting rope N number of cylinder control mechanism one to one, described cylinder control mechanism for controlling the folding and unfolding of corresponding lifting rope, described N be greater than 1 natural number;
The controller be electrically connected with described N number of cylinder control mechanism, for sending the position control signal of rope closing to each cylinder control mechanism, and detecting the torque of each cylinder control mechanism, described suspender is adjusted to level attitude by the torque according to each cylinder control mechanism detected.
2. tackling system of restricting according to claim 1 more, it is characterized in that, described cylinder control mechanism comprises: cylinder, synchronous dynamo and servo-driver;
Described synchronous dynamo is arranged on described cylinder, and described servo-driver is connected with described synchronous dynamo; Described servo-driver is for driving described motor.
3. tackling system of restricting according to claim 1 more, it is characterized in that, described cylinder control mechanism comprises: cylinder, asynchronous dynamo, coder and servo-driver;
Described asynchronous dynamo is installed on described cylinder, and described coder is installed on described asynchronous dynamo;
Described servo-driver is connected with described asynchronous dynamo; Described servo-driver is for driving described motor.
4. tackling system of restricting according to claim 1, is characterized in that, also comprise: L distance measuring sensor more; Described L be greater than 1 natural number;
A described L distance measuring sensor is installed on the bottom of described suspender.
5. tackling system of restricting according to claim 4, is characterized in that more,
The closest range of the installation site of each described distance measuring sensor and the drift angle of described suspender, is less than pre-determined threshold.
6. tackling system of restricting according to claim 5, it is characterized in that, described L is more than or equal to 4 more.
7. tackling system of restricting according to claim 1, it is characterized in that, described N is 8 more.
8. to restrict a hoisting method more, it is characterized in that, comprise following steps:
Controller sends rope closing to N number of cylinder control mechanism or puts the position control signal of rope; Wherein, N number of cylinder control mechanism and N number of lifting rope one_to_one corresponding, described cylinder control mechanism for controlling the folding and unfolding of corresponding lifting rope, described N be greater than 1 natural number;
Described controller detects the torque of each cylinder control mechanism, and according to the torque of each cylinder control mechanism detected, judges whether the unloaded suspender that described N number of lifting rope controls exists non-horizontal phenomenon;
If there is non-horizontal phenomenon, then by the control to each described cylinder control mechanism, described unloaded suspender is adjusted to level attitude.
9. hoisting method of restricting according to claim 8 more, it is characterized in that, described cylinder control mechanism comprises: cylinder, synchronous dynamo and servo-driver;
Described synchronous dynamo is arranged on described cylinder, and described servo-driver is connected with described synchronous dynamo; Described servo-driver, by sending drive singal to described motor, controls the motion of described cylinder.
10. hoisting method of restricting according to claim 8, it is characterized in that, described N is 8 more.
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| CN201510969535.4A CN105540419A (en) | 2015-12-21 | 2015-12-21 | Multi-rope lifting system and method |
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| CN108217487A (en) * | 2017-12-08 | 2018-06-29 | 上海辛格林纳新时达电机有限公司 | The hoisting system and control method of suspender |
| CN108249276A (en) * | 2017-12-29 | 2018-07-06 | 中铁大桥局集团第八工程有限公司 | A kind of method of rotating weight when rotary hoisting system and hoisting heavy |
| CN108313887A (en) * | 2018-03-28 | 2018-07-24 | 河南卫华机械工程研究院有限公司 | A kind of crane hanger balance system and balance control method |
| CN111874824A (en) * | 2020-08-25 | 2020-11-03 | 上海阜有海洋科技有限公司 | Comb-type slideway electric traction winch group self-adaptive synchronous control system and method |
| CN114065555A (en) * | 2022-01-13 | 2022-02-18 | 聚时领臻科技(浙江)有限公司 | Deviation correction compensation method for identifying target in quayside crane road |
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| CN108217487A (en) * | 2017-12-08 | 2018-06-29 | 上海辛格林纳新时达电机有限公司 | The hoisting system and control method of suspender |
| CN108249276A (en) * | 2017-12-29 | 2018-07-06 | 中铁大桥局集团第八工程有限公司 | A kind of method of rotating weight when rotary hoisting system and hoisting heavy |
| CN108249276B (en) * | 2017-12-29 | 2019-07-09 | 中铁大桥局集团第八工程有限公司 | A kind of method of rotating weight when rotary hoisting system and hoisting heavy |
| CN108313887A (en) * | 2018-03-28 | 2018-07-24 | 河南卫华机械工程研究院有限公司 | A kind of crane hanger balance system and balance control method |
| CN111874824A (en) * | 2020-08-25 | 2020-11-03 | 上海阜有海洋科技有限公司 | Comb-type slideway electric traction winch group self-adaptive synchronous control system and method |
| CN114065555A (en) * | 2022-01-13 | 2022-02-18 | 聚时领臻科技(浙江)有限公司 | Deviation correction compensation method for identifying target in quayside crane road |
| CN114065555B (en) * | 2022-01-13 | 2022-07-01 | 聚时领臻科技(浙江)有限公司 | Deviation correction compensation method for identifying target in quayside crane lane |
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Application publication date: 20160504 |