CN106241608A - A kind of intelligence slab clamp controls equipment - Google Patents
A kind of intelligence slab clamp controls equipment Download PDFInfo
- Publication number
- CN106241608A CN106241608A CN201610792569.5A CN201610792569A CN106241608A CN 106241608 A CN106241608 A CN 106241608A CN 201610792569 A CN201610792569 A CN 201610792569A CN 106241608 A CN106241608 A CN 106241608A
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- CN
- China
- Prior art keywords
- spacing
- clamp
- cpu
- limit
- module
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Classifications
-
- 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
-
- 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
- B66C13/50—Applications of limit circuits or of limit-switch arrangements
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
A kind of intelligence slab clamp controls equipment, this intelligence slab clamp control equipment equipment include that CPU, input module, output module, high speed counting module, Measuring opening encoder, clamp height detection apparatus, bottom safety height detection be spacing, clamping detect spacing, open that the limit is spacing, spacing, the display lamp that closes the limit；Bottom safety height detection is spacing, clamping detection is spacing, open that the limit is spacing, to close the limit spacing is connected with input module；Clamp height detection apparatus is connected by communication bus with CPU；Measuring opening encoder is connected with high speed counting module；Display lamp is connected with output module；Input module, output module, high speed counting module are connected by backplane bus with CPU.This device achieves that slab clamp intelligentized control method and detection, clamp is made to become relatively independent intelligent equipment, the obstacle on clamp is solved for automatization's driving is universal, all having increased significantly in terms of environmental suitability, reliability, stability, the most effectively solving slab clamp in the market cannot intelligent, the difficult problem that hinders slab transfer crane cannot popularize automatization.
Description
Technical field
This patent belongs to technical field of automatic control, relates to a kind of intelligence slab clamp and controls equipment.
Background technology
Mainly use crane to carry slab in plant areas such as iron and steel enterprise's hot rolling, cold rolling, continuous castings, and crane also to rely on
Slab clamp carries slab.The nearly 2 years domestic upsurges just starting an automatic improving, main human cost at present is more come
The highest, the loss that security incident is brought is more and more higher, and especially true at steel industry.Crane Automation transformation is at first
Require the transformation project carried out.And Crane Automation transformation, it be unable to do without the automatic improving of suspender, because crane needs to depend on
Raw material and the carrying work of product of steel part is realized by suspender, so from the point of view of for automatization's crane, suspender automatic
The automaticity that change degree, stability are overall by directly determining crane.Use all in the operation of slab handling at present
It is slab clamp hanger, there is the opening and closing limit spacing detection function and clamp height detection function, but do not possess safeguard protection inspection
Brake, does not the most possess Measuring opening function, so automatization cannot be realized, thus have impact on the reality of crane integrated automation
Execute.
Patent content
In order to solve the problems referred to above, this patent provides one to efficiently solve scheme, it is achieved slab clamp Based Intelligent Control sets
Standby, for the transformation of Crane Automation.This patent uses PLC control system, for autonomous device, it is provided that can answer in the market
With most commonly used Profibus interface, communication can be carried out with the PLC of multiple producer and be connected, there is Measuring opening, height inspection
Survey, open the limit, close the limit, clamping detection and bottom safety height detection function.
This patent solves its technical problem and be the technical scheme is that
This intelligence slab clamp controls equipment equipment, including CPU, input module, output module, high speed counting module, opens
Degree detection encoder, clamp height detection apparatus, bottom safety height detection are spacing, clamping detection is spacing, open that the limit is spacing, close
The limit is spacing, display lamp；Bottom safety height detection is spacing, clamping detection is spacing, open that the limit is spacing, to close the limit spacing and input
Module is connected；Clamp height detection apparatus is connected by communication bus with CPU；Measuring opening encoder and high speed counting module phase
Even；Display lamp is connected with output module；Input module, output module, high speed counting module are connected by backplane bus with CPU.
In current slab clamp equipment, generally only with the detection of the opening and closing limit and height detection function, but the most all
Do not possess Measuring opening function and safety protection function, because in the case of manual operation, by manually estimating operation, the most yet
Need not these specific functions.But in the case of current automatization is gradually universal, this clamp detail is cannot to meet automatically
Change demand, urgent need is a kind of at present can have the clamp of intelligent control function to adapt to the demand of automatization's crane.
This patent uses PLC to realize the intelligentized control method of slab clamp, increases clamp opening detection and compile in tong bodies
Code device, clamping detection is spacing, bottom safety height detection is spacing, state-indicating function lamp, and tong bodies height detection function
Device increase has communication function, and the opening and closing limit of clamp still retains.And CPU and crane mainframe CPU is also adopted by communication modes
Realizing data transmission, the element that controls of tong bodies is completely integrated in the electric control box being installed in tong bodies, from master
Machine needs a three-phase electrical source of power cable and a communication cable to clamp, greatly reduces number of cables, makes because of electricity
Cable and the fault that produces are greatly lowered.
Owing to increasing many safety monitoring devices, obstacle bottom clamp is provided with monitoring function, slab clamping is had
Reliable detection, be there has also been reliable detection, and the display lamp that the state that adds shows, can be seen in real time by photographic head aperture
Examine the running status of clamp, and the CPU increased makes clamp be provided with intelligentized characteristic especially, limit all of to tong bodies
Position, all of safety measure, can there is the CPU complete independently computing of clamp, detect, control, safety failure can be accomplished
Intelligent Recognition, is that clamp becomes a relatively independent intelligent equipment, decreases the operand of crane mainframe CPU, carry
The high safety of clamp, reliability also increases considerably simultaneously, thus ensure that automatization's driving global reliability and stable
Property.
This patent provides the benefit that and achieves slab clamp intelligentized control method and detection, makes clamp become relatively independent
Intelligent equipment, solve the obstacle on clamp, in environmental suitability, reliability, stability side for automatization's driving is universal
Face all has increased significantly, and the most effectively solving slab clamp in the market cannot be intelligent, hinders slab to carry
Heavy-duty machine cannot popularize this difficult problem of automatization.
Accompanying drawing explanation
Fig. 1 is this patent electrical systematic drawing.
Fig. 2 is this patent layout of equipment.
Detailed description of the invention
Specific implementation of the patent example is described in detail below in conjunction with technical scheme and accompanying drawing.
Embodiment:
Fig. 1 is the electrical systematic drawing of this patent, and this patent uses Siemens's S7-300 series of PLC, and master cpu uses model
For the CPU of S7-315-2DP, this CPU, there is Profibus interface, Profibus equipment can be connected, simultaneously can also be with other
CPU carries out Profibus communication.Use the clamp elevation carrection module with Profibus communication function of customization as height
Detection sensor carries out data exchange with CPU by Profibus communication.
S01～S12 limit switch, K11～K14 is motor catalyst, H11～H14 is display lamp, B11 and B12 is pincers lower limb
Measuring opening encoder.Limit switch enters the input module of PLC, catalyst and display lamp and enters the output module of PLC, aperture
Detection encoder enters the high-speed counter module of PLC.CPU according to the instruction of host CPU and limit switch, clamp altitude information,
Pincers lower limb aperture data, control K11, K13 or K12, K14 action, and show the current state of clamp on display lamp.M01 and M02
For clamp driven for opening and closing motor, because having two to pincers lower limb, need independent driving, so arranging two motors.
Fig. 2 is this patent layout of equipment.Wherein 1 and 6 it is respectively both sides pincers lower limb Measuring opening encoder；2 is height inspection
Measurement equipment, uses Profibus communication output interface；3 is 4 status indicator lamps；5 is spacing for opening the limit, each pincers lower limb each
Individual；7 is spacing for closing the limit, each pincers lower limb one；8 is that bottom safety height detection is spacing, one, each pincers foot, totally 4；9 are
Step up to detect spacing, one, each pincers foot, totally 4.
After have employed separate CPU, tong bodies participates in the automatic operating of crane entirely as an intelligent equipment
In, host CPU has only to send fixing several orders, can realize the control of clamp.At present control command is reduced to 6 lives
Order.
1.Move (data), aperture control command, parameter data is target opening value.Clamp can be according to current opening value
Size, opens or closes target opening value by clamp.Return OK after success, unsuccessfully return Error.
When target location is less than current location, carry out closing motion, control K12 and K14 adhesive, motor reversal, clamp
Beginning to shut off, opening value reduces, and stops as opening value≤data.Return OK.
When target location is more than current location, carrying out opening action, control K11 and K13 adhesive, motor rotates forward, clamp
Starting to open at, opening value increases, and stops as opening value >=data.Return OK.
Aperture has two pincers lower limbs to determine, every pair of pincers lower limb installs an encoder, is used for detecting opening value, and encoder is adopted
With, incremental pulse codr, carry out speed by high-speed counter module and umber of pulse is measured, umber of pulse will be scaled aperture
Value, velocity measuring then can detect pincers lower limb running status, can also judge as pincers lower limb blocking or the detection stepped up simultaneously.Often
To pincers lower limb by a motor-driven, after a pair pincers lower limb aperture arrives desired value, the most out of service, when two, pincers lower limb is all arrived
After reaching desired value, just can return OK state.
2.OpenMax, is opened to maximum order, it is not necessary to parameter, clamp (leaves limit position by being directly opened to maximum opening
Put).Return OK after success, unsuccessfully return Error.
Controlling K11 and K13 adhesive, motor rotates forward, and clamp starts to open at, and opening value increases, when opening value >=maximum or
Person stops when opening the spacing action of the limit.Return OK.
3.CoseMin, closes minimum order, it is not necessary to parameter, clamp directly close minimum aperture (close extreme position or
Clamped position).Return OK after success, unsuccessfully return Error.
Controlling K12 and K14 adhesive, motor reversal, clamp starts Guan Bi, and opening value reduces, when opening value≤minima or
Person stops when closing the spacing action of the limit, or detects that pincers lower limb speed is 0, or the spacing action of clamping detected, then stop, returning
Return OK.
It is two right that pincers lower limb has, every pair can with independent operating, clamp spacing only with a pair pincers lower limb two spacing while action
Effectively.
4.Height (data), drops to specified altitude, and data is clamp object height value.Owing to clamp itself does not possesses
Hoisting and decline function, main frame to be had realizes hoisting and declining of tong bodies, so this height value rises or falls at main frame
During arrive target location (data) time, return OK state, if time-out, return TimOut state.
After receiving Height order, i.e. it is clocked into state, at the appointed time for arriving object height, then returns super
Time (TimOut) state.
5.Stop, stops, all orders before cancellation, the most out of service.Return OK.
6.Reset, the fault occurred before reset.
During order performs, CPU can detect host CPU coomand mode, in real time if having newer command to send, then
Stop immediately, return OK, and perform Next Command.
If be detected that the system failure, during such as fault messages such as time-out, excessively stream, stall, tripping operation, communication failure, stop immediately
Only current action, and return Error state.
Claims (1)
1. an intelligent slab clamp controls equipment, it is characterised in that include CPU, input module, output module, high-speed counting
Module, Measuring opening encoder, clamp height detection apparatus, bottom safety height detection stop, clamping detect stop, open
Limit stop, close limit stop, display lamp；
Bottom safety height detection is spacing, clamping detection is spacing, open that the limit is spacing, to close the limit spacing is connected with input module；Folder
Pincers height detection apparatus is connected by communication bus with CPU；Measuring opening encoder is connected with high speed counting module；Display lamp with
Output module is connected；Input module, output module, high speed counting module are connected by backplane bus with CPU.
Use PLC to realize the intelligentized control method of slab clamp, tong bodies increases clamp opening detection encoder, clamping detection
Spacing, bottom safety height detection is spacing, state-indicating function lamp, and tong bodies height detection effector increase has communication
Function, the opening and closing limit of clamp still retains.And CPU and crane mainframe CPU is also adopted by communication modes and realizes data transmission, folder
The element that controls of pincers body is completely integrated in the electric control box being installed in tong bodies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610792569.5A CN106241608A (en) | 2016-08-31 | 2016-08-31 | A kind of intelligence slab clamp controls equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610792569.5A CN106241608A (en) | 2016-08-31 | 2016-08-31 | A kind of intelligence slab clamp controls equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106241608A true CN106241608A (en) | 2016-12-21 |
Family
ID=58080025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610792569.5A Pending CN106241608A (en) | 2016-08-31 | 2016-08-31 | A kind of intelligence slab clamp controls equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106241608A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557646A (en) * | 2017-12-26 | 2018-09-21 | 太原重工股份有限公司 | The horizontal coil clamp automatic control system and method for unmanned crane |
| CN111190101A (en) * | 2018-11-15 | 2020-05-22 | 中冶宝钢技术服务有限公司 | Driving hoist testing arrangement |
| CN111196553A (en) * | 2020-01-15 | 2020-05-26 | 中冶赛迪重庆信息技术有限公司 | Intelligent gravity type slab clamp and control method thereof |
Citations (9)
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|---|---|---|---|---|
| CN1958427A (en) * | 2005-10-31 | 2007-05-09 | 巨力集团有限公司 | Electric pincers |
| CN101927949A (en) * | 2010-08-19 | 2010-12-29 | 巨力索具股份有限公司 | Electromagnetic braking translation-type rolling plate clamp |
| 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 |
| CN203419685U (en) * | 2013-05-12 | 2014-02-05 | 大连宝信起重技术有限公司 | Full-automatic crane control equipment for finished goods warehouse |
| KR20140147392A (en) * | 2013-06-19 | 2014-12-30 | 임근수 | Gripper Having a Fixing Member for Coil-Type Steel Sheet |
| CN204384728U (en) * | 2014-12-18 | 2015-06-10 | 中国铁道科学研究院运输及经济研究所 | A kind of horizontal coiled material handling location protective system |
| CN205114840U (en) * | 2015-11-13 | 2016-03-30 | 武汉钢铁(集团)公司 | Working roll clamp presss from both sides tight stop device |
| CN205328446U (en) * | 2016-01-05 | 2016-06-22 | 唐山钢铁集团微尔自动化有限公司 | Overhead traveling crane coil of strip safety centre gripping and detection device |
| CN205998886U (en) * | 2016-08-31 | 2017-03-08 | 大连宝信起重技术有限公司 | A kind of intelligent slab clamp control device |
-
2016
- 2016-08-31 CN CN201610792569.5A patent/CN106241608A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1958427A (en) * | 2005-10-31 | 2007-05-09 | 巨力集团有限公司 | Electric pincers |
| CN101927949A (en) * | 2010-08-19 | 2010-12-29 | 巨力索具股份有限公司 | Electromagnetic braking translation-type rolling plate clamp |
| 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 |
| CN203419685U (en) * | 2013-05-12 | 2014-02-05 | 大连宝信起重技术有限公司 | Full-automatic crane control equipment for finished goods warehouse |
| KR20140147392A (en) * | 2013-06-19 | 2014-12-30 | 임근수 | Gripper Having a Fixing Member for Coil-Type Steel Sheet |
| CN204384728U (en) * | 2014-12-18 | 2015-06-10 | 中国铁道科学研究院运输及经济研究所 | A kind of horizontal coiled material handling location protective system |
| CN205114840U (en) * | 2015-11-13 | 2016-03-30 | 武汉钢铁(集团)公司 | Working roll clamp presss from both sides tight stop device |
| CN205328446U (en) * | 2016-01-05 | 2016-06-22 | 唐山钢铁集团微尔自动化有限公司 | Overhead traveling crane coil of strip safety centre gripping and detection device |
| CN205998886U (en) * | 2016-08-31 | 2017-03-08 | 大连宝信起重技术有限公司 | A kind of intelligent slab clamp control device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557646A (en) * | 2017-12-26 | 2018-09-21 | 太原重工股份有限公司 | The horizontal coil clamp automatic control system and method for unmanned crane |
| CN111190101A (en) * | 2018-11-15 | 2020-05-22 | 中冶宝钢技术服务有限公司 | Driving hoist testing arrangement |
| CN111196553A (en) * | 2020-01-15 | 2020-05-26 | 中冶赛迪重庆信息技术有限公司 | Intelligent gravity type slab clamp and control method thereof |
| CN111196553B (en) * | 2020-01-15 | 2021-05-28 | 中冶赛迪重庆信息技术有限公司 | Intelligent gravity type slab clamp and control method thereof |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161221 |