CN106006389B - A kind of slab clamp height intelligent detection equipment - Google Patents
A kind of slab clamp height intelligent detection equipment Download PDFInfo
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- CN106006389B CN106006389B CN201610537172.1A CN201610537172A CN106006389B CN 106006389 B CN106006389 B CN 106006389B CN 201610537172 A CN201610537172 A CN 201610537172A CN 106006389 B CN106006389 B CN 106006389B
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- cpu
- encoder
- spacing
- spc3
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
A kind of slab clamp height intelligent detection equipment, including measurement module, the spacing, decoder module of correction, CPU module, SPC3 modules and DP interface modules；It is characterized in that measuring appliance module is connected with decoder module；Decoder module and correcting spacing is connected with CPU module；CPU module is connected with SPC3 modules；SPC3 modules are connected with DP interface modules；Correction is spacing to rotate cam limit, and cam limit is mechanically connected with encoder by train of reduction gears.Using measurement module as height detection sensor, CPU is passed data to by decoder module, the SPC3 chips and DP interface circuits then passed through by CPU is transmitted data in DP buses, complete the communication with PLC in bus；Measurement module realizes height detection, decoder module realizes the data decoding of measurement module, CPU module realizes data acquisition, SPC3 modules complete the transmission of the reception of Profibus data, realize CPU and Profibus interface, DP interfaces realize Profibus and electrical connection, while having electrical isolation function.
Description
Technical field
This patent belongs to technical field of automatic control, is related to a kind of slab clamp height intelligent detection equipment.
Background technology
Slab mainly is carried using crane in the plant area such as iron and steel enterprise's hot rolling, cold rolling, continuous casting, and crane will also be relied on
Slab clamp carries slab.In order to improve operating efficiency, it usually needs once carry polylith slab, and carry varying number plate
Base needs to lift the chela of slab clamp into different height, in the method that most clamps are estimated using driver in the market
To carry out the height control of clamp, precision is not guaranteed, it is easy to security incident occur.A small number of clamps can using limit switch come
The adjustable height of clamp is indicated, limit switch is installed in different slab positions, this method will be more reliable than artificial range estimation, but
Need to be arranged on pincers leg due to spacing, otherwise can not accomplish that position is detected, and be all to need to carry in hot rolling and continuous casting plant area
This results in limit switch to red base (temperature is higher than 800 DEG C) needs high temperature resistant, even if but increase various safeguard procedures, it is but spacing
The switch still life-span is very short, and fault rate is very high, and reliability is very low.Area of subsidiary factory employs import clamp inside Baosteel, with height
Detection means is spent, device is arranged in clamp upper stage, and with thermal insulation board and safeguard procedures, the sensor of use is selsyn
Machine, effect is very good, and accuracy and stability are all very high, can provide continuous height position data, facilitate crane PLC
Realize intelligentized control method.But nowadays work substantially 20 years or so, majority has been damaged, and there is also essence for part equipment in use
Degree reduction, the problem of stability declines.In the case where wideling popularize the form of automation driving at present, current height detection apparatus is all
It can not meet and require that, so being badly in need of meeting crane using a kind of new reliable and stable height detection apparatus certainly
The demand of dynamicization transformation.
The content of the invention
In order to solve the above problems, this patent provides one kind and efficiently solves scheme, realizes slab clamp height intelligence inspection
Measurement equipment, the transformation for Crane Automation.This patent uses embedded control system, is that there is provided can be current for autonomous device
The Profibus interfaces that in the market is most widely used, can carry out communication with the PLC of a variety of producers and be connected.Employ from whole
Fixed, self checking, there is provided reliable and stable data output for multiple filter algorithm.It can realize that height is changed by PLC setup parameters
Calculation is adjusted with slab fixed position node, and effective altitude information and fixed slab nodes of locations number are provided for crane PLC
According to, it is not necessary to crane PLC is converted again, effectively the PLC of reduction crane amount of calculation.
This patent solves the technical scheme that its technical problem used：
The slab clamp height intelligent detection equipment includes measurement module, corrects spacing, decoder module, CPU module, SPC3
Module and DP interface modules；Measuring appliance module is connected with decoder module；Decoder module and correcting spacing is connected with CPU module；CPU
Module is connected with SPC3 modules；SPC3 modules are connected with DP interface modules；Correction it is spacing for rotation cam limit, cam limit with
Encoder is mechanically connected by train of reduction gears.Using measurement module as height detection sensor, pass through decoder module
CPU is passed data to, the SPC3 chips and DP interface circuits then passed through by CPU is transmitted data in DP buses, completed
With the communication of PLC in bus；Measurement module realizes height detection, and decoder module realizes the data decoding of measurement module, CPU module
Data acquisition is realized, SPC3 modules complete the transmission of the reception of Profibus data, realize CPU and Profibus interface, DP
Interface realizes the electrical connection of Profibus and this patent, while having electrical isolation function.
In current slab clamp height detection apparatus, the form of spring spool, the structure are generally added using selsyn
The shortcoming of form is to need the change-over circuit of high reliability to realize accurate altitude information conversion, to manufacture craft and live ring
Border requires higher.The measurement module of this patent is made up of drawstring, weight, spring spool, encoder, cam limit.Its medium pulling rope,
Weight, spring spool part are consistent with original structure, and new structure is employed in cam limit and encoder section.Bullet above
Spring reel and encoder are coaxially connected, then in a train of reduction gears is transferred to, and are connected to a cam bit, so exist
Cam bit can carry out differential gearing by train of reduction gears and encoder axle, so as to ensure in the lifting action area of whole clamp
Between cam ring piece rotation not over one week.Rotated by cam bit, limit switch can be touched, by adjusting cam bit point
End is met and discussed, and as reference, can realize the correction of encoder data in one fixed position of selection in making clamp lifting interval, from
And ensure the reliability and validity of encoder data.
All realize that this is not using PLC specialized high-speeds module in the data acquisition of current industrial circle incremental encoder
A supporting PLC specialized high-speeds module is only needed while needing PLC CPU to support well, considerably increases the cost of equipment, and
It is bulky, it is difficult to install on narrow and small clamp platform.This patent employs embedded on encoder data acquisition geometry
Hardware device is realized.The decoding of encoder is realized instead of PLC high-speed counter modules by high speed TTL double D triggers, with body
The product advantage that small, reliability is high, cost is low.Expensive PLC CPU is replaced by embedded type CPU, cost is greatly lowered.By
Belong to micro energy lose product in the CPU of selection, designed by reasonable software and hardware, not only reliability is high, to high temperature alloy, dust
Environment, high vibration environment have very strong adaptability, and PLC CPU can be substituted completely.
Old-fashioned clamp height detection apparatus carries out data exchange using the form of analog quantity with external equipment, due to entering
Data conversion (synchro data to analog quantity, analog quantity to PLC) twice, intermediate data precision will lose, and hold
Easily it is disturbed.If the PLC forms that are generally used using in the market are realized, also need to increase ProfiBUS communication modules and come
Realize, although guaranteed in reliability and stability, but cost is increased considerably.This patent is equally employed to be adopted extensively at present
ProfiBUS data communication interfaces realize the data exchange with external equipment, but that Siemens is employed in way of realization is embedding
Enter the special ProfiBUS interface chips of formula to realize, equally realize ProfiBUS communication interfaces, and reliability and stability
It is all guaranteed, but cost is greatly lowered.Due to being all from data acquisition end (encoder), communication interface, external equipment three
Digital, interactive, so in the absence of loss of significance, measurement accuracy is only influenceed by the resolution ratio of encoder, and older clamp is highly examined
Measurement equipment has again in precision to be increased substantially.And ProfiBUS communications protocol ensure that it is reliable in data transmission procedure
Property, the adaptability to environment is greatly improved.
The beneficial effect of this patent is to realize the intellectualized detection of slab clamp height, and the height of import can be replaced to examine
Measurement equipment, the occasion of high temperature with high dust is can apply to by appropriate packing box safeguard procedures, is adapted in equipment cost, environment
Property, all have increased significantly in terms of reliability, therefore can effectively solve that slab clamp in the market can not stablize can
The problem of by detection height.This patent also there is many kinds of parameters to set function, can flexibly set various motion node, Ke Yiyou
Effect reduction crane PLC when realizing automatically working live load, be greatly improved slab clamp operational reliability and
Stability.
Brief description of the drawings
Fig. 1 is this patent electrical systematic drawing.
Fig. 2 is this patent measurement module structure chart.
Fig. 3 is this patent mounting arrangements schematic diagram.
Fig. 4 is this patent decoder module circuit diagram.
Fig. 5 is this patent CPU module circuit diagram.
Fig. 6 is this patent Profibus interface circuit figures.
Embodiment
Specific implementation of the patent example is described in detail below in conjunction with technical scheme and accompanying drawing.
Embodiment：
The cpu chip for the STM32F103 series that this patent is developed using the ST Microelectronics of Italy is used as insertion
Formula master cpu.Using the measurement module of custom-made as height detection sensor, passed data to by decoder module
CPU, is then transmitted data in DP buses by CPU by the SPC3 chips and DP interface circuits of Siemens, is completed and bus
Upper PLC communication.
Fig. 1 is the electrical systematic drawing of this patent, and measurement module realizes height detection, and decoder module realizes the number of measurement module
According to decoding, CPU module realizes data acquisition, and SPC3 modules complete the transmission of the reception of Profibus data, realize CPU and
Profibus interface, DP interfaces realize the electrical connection of Profibus and this patent, while having electrical isolation function.
Fig. 2 is this patent measurement module structure chart.
1. it is weight, is made by one piece of round iron cake, top connection steel cable, the upper surface with slab,
When clamp declines, weight can first touch slab, will now start elevation carrection.
2. it is spring spool, wirerope-winding is on spring spool, and the up and down action of weight can make spool turns, by band
Dynamic encoder is measured.
3. it is encoder, is incremental pulse encoder, coaxially connected with spring spool, the rotation of spring spool will makes volume
Code device produces count pulse
4. it is cam limit group, is made up of train of reduction gears, cam bit, limit switch, the input shaft and coding of gear train
Device is coaxially connected, and cam bit is connected to the output shaft of gear train, and encoder, which is rotated, will also drive gear train to rotate, so as to drive convex
Piece is taken turns to rotate.
5. it is cam bit, is 6. that verification is spacing.Cam bit has individual tip raised, can be by when projection turns to spacing top
Spacing meeting and discussing is pressed, so as to trigger spacing action, adjusts the angle of cam bit, it is possible to achieve spacing dynamic in ad-hoc location
Make, the verification of encoder data can be realized according to spacing action.The output shaft of gear train and the gearratio of input shaft are 1:
When 40, i.e. input shaft (encoder) rotate 40 circle, output shaft revolves the encoder that turns around, and can so ensure cam bit whole
Detect in stroke, rotate not over one week, thereby may be ensured that the reliability for verifying spacing verification.
3. 4. 5. 6. it is the innovative point of this patent.Elevation carrection is carried out by digital incremental encoder.Current clamp
Elevation carrection scope is basic at 1.5 meters or so, if using the encoder for often enclosing 1024 pulses, the measurement accuracy of height can be with
Reach 1500/1024 ≈ 1.5mm.And the measurement progress basic demand of clamp height is in ± 10mm, so measurement module completely may be used
To meet the requirement of clamp elevation carrection precision.
Fig. 3 is this patent mounting arrangements schematic diagram.
7. it is the realization of this patent, is encapsulated in a closed casing with safeguard procedures, bottom half perforate, by steel wire
Rope is drawn.8. it is that weight is connected on a steel cord.It can ensure that weight first contacts slab when suspender declines, so as to realize clamp
Elevation carrection.Because weight and steel wire rope are Steel material, it will not fail at high temperature, it is ensured that the reliability of measurement,
The safeguard procedures of casing and the provision for thermal insulation collective effect of tong bodies, it is ensured that the reliable work of the electronic circuit of this patent
Make.
Fig. 4 is this patent decoder module circuit diagram.
The square wave that two-way phase differs 90 degree can be sent when encoder is rotated, A phases are advanced when encoder is rotated forward, and B phases are stagnant
Afterwards.When encoder is inverted, A phases are delayed, and B phases are advanced.The square wave can be filled by decoder module is changed to 1 tunnel counting square wave and 1 tunnel
Direction level, when encoder is reverse, then counts and level circuit is also opposite.So as to which CPU module passes through two-way counter
The DATA REASONING of encoder is realized, the height value of clamp can be scaled in the conversion proportion by setting.CPU again hands over data
The PLC device of crane can be transmitted data to by changing to SPC3 modules.SPC3 modules are that Profibus EM equipment modules pass through DP
The equipment of this patent can be articulated on Profibus networks and realize and internetwork data exchange by interface module.
In Fig. 4, J1 connections encoder, ISO1 and ISO2 are high speed photo couplings, realize the photoelectricity of encoder and decoder module
Isolation, U5 is d type flip flop, and U4 is two input nand gates., can by U5 and U4 processing due to the orthogonal property of encoder pulse
With export UP (plus) count pulse and DN (subtract) count pulse.
Fig. 4 decoder module instead of PLC high speed counting modules that in the market generally uses to realize the decoding of encoder,
Do not reduced in stability and reliability, but significantly better than high speed counting module in cost.
Fig. 5 is the CPU module circuit diagram of this patent.CPU uses the STM32F103C8T7 chips of ST Microelectronics,
The chip can within the temperature range of -40 ° to 80 ° normal work, with very high reliability, extensively should in industrial circle
With.CPU is mainly responsible for carrying out data acquisition to measurement module, while being calculated, being compared, and result is delivered to below
SPC3 modules, are sent on Profibus.
S1 is Profibus addresses configuration switch, the address setting for the intelligent substations of DP.U1 is EEPROM storage chips,
For storing the parameter set.
This CPU module instead of the CPU module for the PLC that in the market is generally used, and the CPU module is in stability and reliability
On can be guaranteed, and due to being micro energy lose module, so for PLC CPU, it is not necessary to big heat-dissipating space,
Can be realized by embedding to high temperature, high dust, the environment of high vibration adaptation, and volume can be made very small, thus compared with
PLC CPU has very big advantage, while cost is lower.
Fig. 6 is the Profibus interface circuit figures of this patent.SPC3 chips are being used for for Siemens Company's research and development
The interface chip of Profibus intelligent substation exploitation, can be with the baud rate in the range of automatic identification 9.6Kbps~12Mbps, work
Make temperature：- 40~85 DEG C, data exchange is carried out by 8 bit data bus and CPU.Intelligent substation device can easily be designed.
Originally circuitry instead PLC ProfiBUS interface modules, functionally no any loss, stability and reliability do not have
There is any reduction, but have very big advantage with the ProfiBUS interface modules in cost compared with PLC in volume.
The workflow of this patent is as follows：
1. clamp is in vacant state, spring spool is elongated to maximum displacement position by weight.
2. the lifting mechanism of crane declines, slab crawl is ready for.
3. when clamp drops to certain position, weight comes in contact with slab, and spring spool withdraws steel wire rope, encoder
Start rotation and send count pulse, the orthogonal pulses of encoder are decoded into unidirectional count pulse by decoder module, CPU according to
The pulse proceeds by counting, and passing ratio conversion obtains the displacement of clamp generation, and transmits this data to SPC3 modules, enters
And the PLC for occurring to arrive crane by Profibus, the PLC of crane are automatically controlled according to the data.
4. when CPU calculate data with setting slab quantity fiducial value match when, can by communication to inductive switch
Measure set, main crane PLC both can continuous height number manually, the switching value number of slab quantity can also be corresponded to manually
According to so as to freely control the falling head of clamp, the slab quantity that control can be carried.
5. during clamp decline, cam limit can also be acted in the position of setting, CPU is according to the signal and setting number
It is corrected according to encoder, so as to ensure the accuracy and reliability of measurement.
Claims (2)
1. a kind of slab clamp height intelligent detection equipment, the slab clamp height intelligent detection equipment includes measurement module, school
Just spacing, decoder module, CPU module, SPC3 modules and DP interface modules；Characterized in that,
Measuring appliance module is connected with decoder module；Decoder module and correcting spacing is connected with CPU module；CPU module and SPC3 moulds
Block is connected；SPC3 modules are connected with DP interface modules；Correction is spacing to rotate cam limit, and cam limit is with encoder by subtracting
Fast gear train is mechanically connected；Using measurement module as height detection sensor, passed data to by decoder module
CPU, the SPC3 chips and DP interface circuits then passed through by CPU is transmitted data in DP buses, is completed and PLC in bus
Communication；Measurement module realizes height detection, and decoder module realizes the data decoding of measurement module, and CPU module realizes data acquisition,
SPC3 modules complete the transmission of the reception of Profibus data, realize CPU and Profibus interface, and DP interfaces are realized
Profibus and electrical connection, while having electrical isolation function；
Described measurement module structure includes weight, spring spool, incremental pulse encoder and cam limit group；Weight is by one
Block round iron cake is made, top connection steel cable, the upper surface with slab, and when clamp declines, weight first connects
Slab is contacted, now starts elevation carrection；Wirerope-winding is on spring spool, and the up and down action of weight makes spool turns, will
Encoder is driven to measure；Incremental pulse encoder and spring spool are coaxially connected, and the rotation of spring spool will make coding
Device produces count pulse；Cam limit group is made up of train of reduction gears, cam bit, limit switch, the input shaft and volume of gear train
Code device is coaxially connected, and cam bit is connected to the output shaft of gear train, and encoder, which is rotated, will also drive gear train to rotate, so as to drive
Cam bit is rotated；Cam bit has individual tip raised, can press spacing meeting and discussing when projection turns to spacing top, so as to touch
The action for sending out spacing, adjusts the angle of cam bit, realizes the spacing action in ad-hoc location, is realized and encoded according to spacing action
The verification of device data；The output shaft of gear train and the gearratio of input shaft are 1:When 40, i.e. input shaft rotate 40 circle, output shaft rotation
Turned around encoder, it is ensured that cam bit is rotated not over one week in whole detection stroke, it is ensured that the spacing verification of verification
Reliability.
2. a kind of slab clamp height intelligent detection equipment according to claim 1, it is characterised in that described decoding mould
Block circuit is：The square wave that two-way phase differs 90 degree can be sent when encoder is rotated, A phases are advanced when encoder is rotated forward, and B phases are stagnant
Afterwards；When encoder is inverted, A phases are delayed, and B phases are advanced；The square wave is changed to 1 tunnel by decoder module and counts square wave and 1 tunnel direction electricity
It is flat, when encoder is reverse, then counts and level circuit is also opposite.
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| CN201610537172.1A CN106006389B (en) | 2016-07-10 | 2016-07-10 | A kind of slab clamp height intelligent detection equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610537172.1A CN106006389B (en) | 2016-07-10 | 2016-07-10 | A kind of slab clamp height intelligent detection equipment |
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| CN106006389B true CN106006389B (en) | 2017-10-10 |
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| CN109261923B (en) * | 2018-10-16 | 2023-08-22 | 石家庄钢铁有限责任公司 | High-temperature area signal detection device and casting blank counting method |
Citations (6)
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|---|---|---|---|---|
| FR2526775B1 (en) * | 1982-05-14 | 1986-08-29 | Clemessy | TRACKING ASSEMBLY AND ASSOCIATED METHOD FOR DETERMINING THE GRIP HEIGHT OF STACKED ELEMENTS BY A BLIND-OPERATED GRIP MEMBER |
| RU2397942C1 (en) * | 2009-05-05 | 2010-08-27 | Государственное образовательное учреждение высшего профессионального образования "Южно-Российский государственный технический университет (Новочеркасский политехнический институт)" | Crane gripper |
| CN102331251A (en) * | 2011-05-23 | 2012-01-25 | 国网电力科学研究院 | Automatic electromagnetic measuring device for settlement |
| CN102616656A (en) * | 2011-01-30 | 2012-08-01 | 宝山钢铁股份有限公司 | Slab information detection method for clamping slabs in crane automatic control mode |
| CN205192468U (en) * | 2015-12-16 | 2016-04-27 | 吉安金亿科技有限公司 | Automatic height detection machine of high accuracy |
| CN205855839U (en) * | 2016-07-10 | 2017-01-04 | 大连宝信起重技术有限公司 | A kind of slab clamp height intelligent detection equipment |
-
2016
- 2016-07-10 CN CN201610537172.1A patent/CN106006389B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2526775B1 (en) * | 1982-05-14 | 1986-08-29 | Clemessy | TRACKING ASSEMBLY AND ASSOCIATED METHOD FOR DETERMINING THE GRIP HEIGHT OF STACKED ELEMENTS BY A BLIND-OPERATED GRIP MEMBER |
| RU2397942C1 (en) * | 2009-05-05 | 2010-08-27 | Государственное образовательное учреждение высшего профессионального образования "Южно-Российский государственный технический университет (Новочеркасский политехнический институт)" | Crane gripper |
| CN102616656A (en) * | 2011-01-30 | 2012-08-01 | 宝山钢铁股份有限公司 | Slab information detection method for clamping slabs in crane automatic control mode |
| CN102331251A (en) * | 2011-05-23 | 2012-01-25 | 国网电力科学研究院 | Automatic electromagnetic measuring device for settlement |
| CN205192468U (en) * | 2015-12-16 | 2016-04-27 | 吉安金亿科技有限公司 | Automatic height detection machine of high accuracy |
| CN205855839U (en) * | 2016-07-10 | 2017-01-04 | 大连宝信起重技术有限公司 | A kind of slab clamp height intelligent detection equipment |
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| CN106006389A (en) | 2016-10-12 |
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