CN106395639B - A kind of ship unloaders main carriage horizontal wheels anti-dropout method for early warning - Google Patents

A kind of ship unloaders main carriage horizontal wheels anti-dropout method for early warning Download PDF

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Publication number
CN106395639B
CN106395639B CN201610961472.2A CN201610961472A CN106395639B CN 106395639 B CN106395639 B CN 106395639B CN 201610961472 A CN201610961472 A CN 201610961472A CN 106395639 B CN106395639 B CN 106395639B
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Prior art keywords
main carriage
horizontal wheels
trolley
switch
ship unloaders
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CN106395639A (en
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丁建军
张端平
王树军
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Shanghai Meishan Iron and Steel Co Ltd
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Shanghai Meishan Iron and Steel Co Ltd
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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
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/04—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports with lifting beams, e.g. slewable beams, carrying load-engaging elements, e.g. magnets, hooks
    • 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
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Ship Loading And Unloading (AREA)

Abstract

The present invention relates to a kind of ship unloaders main carriage horizontal wheels anti-dropout early warning system and method, mainly solve in the case where high speed is walked can the damage of occurred level wheel bearing, horizontal wheels come off and gnaw the technical problem of the failures such as rail generation.Technical solution is：Horizontal wheels anti-dropout early warning system is that 2 are symmetrically arranged on main carriage double track inner track bottom plate close to switch, close to the signal output part access ship unloaders PLC system of switch；1 trolley, zero meter of position reference signaling switch is installed in the upstream track girder side of zero meter of position line of main carriage, main carriage motor tailing axle is provided with incremental encoder, the signal output part of zero meter of position reference signaling switch of trolley and incremental encoder accesses ship unloaders PLC system, benchmark calibration is carried out to main carriage position so that PLC records trolley travelling position in main carriage operational process；When sending action signal close to switch, through PLC processing, alarm sound signal and picture and text warning message are sent to ship unloaders drivers' cab monitoring touch-screen, while control main carriage low speed to run.It is the device and method for the protection of bridge-type grab ship unloader main carriage horizontal wheels anti-dropout.

Description

A kind of ship unloaders main carriage horizontal wheels anti-dropout method for early warning
Technical field
The present invention relates to a kind of ship unloaders main carriage horizontal wheels anti-dropout early warning system and method, unloaded for bridge-type grab The device and method of ship owner's trolley horizontal wheels anti-dropout protection.
Background technology
Existing 1200t/h bridge-type grab ship unloaders travelling mechanism includes, and raising, switching mechanism, cart walking mechanism, bow Face upward mechanism, wheeling mechanism, wire rope winding system, discharge system etc..Its wheeling mechanism mainly has car body, level Wheel, carrying roller, pulley blocks etc. form.Carriage walking uses rope traction pattern, its steel wire rope is raising, opening and closing steel wire rope.Make During industry, by raising, opening and closing cable drum, synchronously operating winding/release rope traction makes main carriage realize front and rear move It is dynamic, and then discharge operation.Main carriage horizontal wheels are made of eccentric shaft, horizontal wheels, bearing, guard ring etc., main carriage operation Speed is up to 180m/min.The horizontal wheel apparatus of main carriage is respectively arranged in four corner parts of main carriage, by horizontal wheels with Track interior side contacts are straight to ensure main carriage running orbit.Horizontal wheels bottom head covers are hung down away from trolley track plane in operational process Straight distance is only 60mm.Due to horizontal wheels when main carriage is run often with trolley track side friction rolling, high speed walk The failures such as rail generation that lower meeting occurred level wheel bearing damages, horizontal wheels come off and gnaw, although thering is guard ring to protect it thereunder Do not fall off on track and cause to gnaw rail, but since its speed is excessive, guard ring cannot effectively preventer come off, easily cause horizontal wheels Phenomena such as gnawing rail or coming off or even derail, causes to seriously affect to complete machine metal structure.
The content of the invention
The object of the present invention is to provide a kind of ship unloaders main carriage horizontal wheels anti-dropout early warning system and method, mainly solve In the case where high speed is walked can the damage of occurred level wheel bearing, horizontal wheels come off and gnaw the technical problem of the failures such as rail generation.
The technical scheme is that：A kind of ship unloaders main carriage horizontal wheels anti-dropout early warning system, it is characterized in that in master 2 are symmetrically arranged on trolley double track inner track bottom plate close to switch, is being placed in main carriage horizontal wheels running orbit just Lower section, close to the signal output part access ship unloaders PLC system of switch；Pacify in the upstream track girder side of zero meter of position line of main carriage 1 trolley, zero meter of position reference signaling switch is filled, main carriage motor tailing axle is provided with incremental encoder, zero meter of position reference of trolley The signal output part of signaling switch and incremental encoder accesses ship unloaders PLC system, carries out benchmark calibration to main carriage position, makes Obtain PLC and trolley travelling position is recorded in main carriage operational process；Occur when main carriage is run close below trolley horizontal wheels When switch sends action signal, through ship unloaders PLC system data processing, alarm sound is sent to ship unloaders drivers' cab monitoring touch-screen Signal and picture and text warning message are rung, while controls ship unloaders main carriage low speed to run.
A kind of ship unloaders main carriage horizontal wheels anti-dropout method for early warning, comprises the following steps：
A, zero meter of position reference signal scaling：
Using the center line of main carriage as main carriage position, the center line of main carriage runs to zero meter with main carriage During the position line, zero meter of position reference signaling switch just sends zero meter of position signal, ship unloaders PLC system to ship unloaders PLC system Zero meter of calibration is carried out to main carriage physical location accordingly, it is ensured that the trolley physical location that PLC is calculated is correct all the time, at zero meter When position trolley moves forwards forward, the actual motion position of trolley be exactly zero meter of position plus or minus trolley walking away from From；
B, main carriage running position determines：
Main carriage running position=incremental encoder umber of pulse × unit pulse trolley displacement SP；The small parking stall of unit pulse Shifting amount SP=SD/1024；SDThe displacement stroke of main carriage when turning around for main vehicle motor fortune；Incremental encoder for 1024 pulses/ Enclose encoder；
C, the detection of failure horizontal wheels
The distance of main carriage center line to homonymy trolley horizontal wheels is equal, if each level takes turns to main carriage center Position line distance is S0 meters, then when line running position in main carriage center is 10+S0 meters, 2 horizontal wheels point on the left of main carriage Not with being overlapped close to switch on lower track beam, such as there is 1 horizontal wheels that small bottom offset occurs in the horizontal wheels of left side at this time, then Below corresponding horizontal wheels close to switch motion；Similarly, when line running position in main carriage center is 10-S0 meters, main carriage 2, right side horizontal wheels with being overlapped close to switch on lower track beam, such as there is 1 horizontal wheels hair at this time respectively in the horizontal wheels of right side Raw small bottom offset, then correspond to below horizontal wheels close to switch motion；
Ship unloaders PLC system judges connecing for current action according to main carriage current location is 10+S0 or 10-S0 accordingly Near switch is that horizontal wheels failure causes on the left of main carriage or main carriage left side horizontal wheels failure causes, then adds the close of action to open Pass is main carriage upstream track girder or downstream track girder this condition, just can accurate judgement be that main carriage which horizontal wheels occur Failure.Such as：When main carriage runs to 10+S0 positions, track girder horizontal wheels detection in main carriage upstream sends dynamic close to switch Make signal, then the horizontal wheels to break down at this time are main carriage upstream track upper left horizontal wheels；
D, fault alarm and control
The main carriage horizontal wheels fault-signal of detection is further processed in PLC：
1）, to main carriage motor driving frequency converter send restricting signal, main carriage is run with low speed；
2）, to drivers' cab monitoring touch-screen send picture and text, audible warning, prompt driver's main carriage code name horizontal wheels Failure, makes driver find that failure exists at the first time.
The beneficial effects of the invention are as follows：The present invention compared with current existing main carriage horizontal wheels anti-drop device have it is following not Together：1st, carried using distance detection device, cycle monitoring horizontal wheels operation state, the accuracy for the actual motion position of main carriage For ensureing；2nd, there is horizontal wheels loose alarm device, horizontal wheels loosen sinking distance and realize automatic alarm beyond allowed band, and Specific failure horizontal wheels code name is quoted in detail, ship unloaders driver is being found mechanism exception at the first time；3rd, level is worked as When wheel loosens sinking triggering distance detection protection act, have and realize main carriage deceleration, avoid since excessive velocities cause Secondary failure occurs.
Brief description of the drawings
Fig. 1：Main carriage structure diagram of the present invention.
In figure：1- main carriages, 2- downstreams track girder, 3- upstreams track girder；4- pulley blocks, 5- main carriage crossbeams.
Fig. 2：Horizontal wheels structure diagram of the present invention.
In figure：6- eccentric shafts, 7- bearings, 8- tracks, 9- pressing plates, 10- horizontal wheels, 11- guard rings, 12- end caps, on 13- Track girder is swum close to switch.
Fig. 3：Main carriage operation of the present invention and spacing layout.
In figure：The close switch of 14- downstreams track girder, zero meter of position line of 15- main carriages, 16- main carriages center line, Swim horizontal wheels, 18- upper rights trip horizontal wheels, 19- lower-lefts trip horizontal wheels, 20- bottom rights trip horizontal wheels, zero meter of position of 21- trolleies in 17- upper lefts Put reference signal switch, the big funnels of 22-.
Fig. 4：Horizontal wheels sinking fault alarm schematic diagram of the present invention.
Fig. 5：Horizontal wheels sinking breakdown judge flow chart of the present invention.
Fig. 6：Trolley position measurement flow chart of the present invention.
In figure：23-incremental encoder.
Embodiment
With reference to Fig. 1,2,3, a kind of ship unloaders main carriage horizontal wheels anti-dropout early warning system, the siding track in 1 double track of main carriage Upstream track girder is symmetrically arranged on 8 bottom plate of road close to switch 13 and downstream track girder close to switch 14, is placed in main carriage The underface of 10 running orbit of horizontal wheels, signal output of the upstream track girder close to switch 13 and the close switch 14 of downstream track girder Terminate into ship unloaders PLC system；1 trolley, zero meter of position reference is installed in the upstream track girder side of zero meter of position line 15 of main carriage Signaling switch 21；Main carriage motor tailing axle is provided with incremental encoder 23, and zero meter of position reference signaling switch of trolley and increment are compiled The signal output part access ship unloaders PLC system of code device, for carrying out calibration measurement to the position of main carriage 1.PLC is public for ABB Take charge of AC 800M controllers.
Ship unloaders main carriage 1 is equipped with main carriage crossbeam 5, pulley blocks 4 is housed on main carriage crossbeam 5, horizontal wheels 10 are installed on 5 both ends of main carriage crossbeam, along its 8 level run of track, two tracks 8 are separately fixed at left rail beam 4 and right rail beam 2 On.Horizontal wheels 10 are fixed on eccentric shaft 6 by bearing 7, and horizontal wheels are equipped with guard ring 11, and bearing 7 is equipped with end cap 12, horizontal wheels 10 are abutted against track 8, and track 8 is fixed by pressing plate 9, and upstream track girder is installed on close to switch 13, downstream track girder close to switch 14 At the sole-plate of the lower section of horizontal wheels 10, and with zero meter of position line 15 of main carriage at a distance of 10m（Due to main carriage shape effective width For 8m, and trolley working path is more than zero meter of position side during normal operation, to ensure the four of main carriage 1 horizontal wheels just Can be all by main carriage close to the top of switch 13,14, so the installation position close to switch 13,14 during Chang Zuoye each runs 8m should be not less than with zero meter of 15 distance of the position line of main carriage by putting, and this case is chosen to be 10m）, each close to inductive switching face to level Distance between the end cap 12 of wheel is 15mm.Close open will not be caused by ensuring the small bottom offset of horizontal wheels under normal circumstances and end cap Close malfunction and false alarm occurs.
With reference to Fig. 3,4,5, the position setting of zero meter of position line 15 of main carriage is according to the big surface of funnel 22 of ship unloaders.Master is small The running orbit of 16 position of car center line and main carriage changes and changes.Horizontal wheels 17 are swum in upper left, and the swimming of 18- upper rights is flat Wheel, 19- lower-lefts trip horizontal wheels, 20- bottom rights trip horizontal wheels position is normal, when non-loosening sinks, apart from upstream track girder close to opening Any one close switch closed in 13 and the close switch 14 of downstream track girder will not act, and main carriage 1 can normal operation；When When horizontal wheel bearing 7 damages or bearing 7 coordinated pine with eccentric shaft 6, it may result in horizontal wheels and its end cap 12 sink, if 4 When any one in horizontal wheels distance of sinking is beyond the safe distance of setting, when relevant position is arrived in the walking of main carriage 1, just Can cause has 1 to send triggering close to switch apart from the close switch 13 of upstream track girder or downstream track girder close in switch 14 moves Make signal, which is sent into ship unloaders PLC control system, is 10+S0 meters or 10-S0 meters with reference to current 1 position of main carriage（By leading Vehicle motor encoder pulse number variable quantity, PLC calculate small truck position）, it is which water through ship unloaders PLC system logic judgment Flat wheel breaks down, and then is exported by PLC control signals to main carriage motor, 1 speed of service of main carriage is limited in default Low speed operation, prevent failure propagation.And touch-screen is monitored by ship unloaders drivers' cab and sends sound equipment, picture and text alarm signal, make Driver is prompted, avoid because driver can not awareness rate wheel sinking and caused by continuous operation the aggravation of horizontal wheels failure with into One step deteriorates, and causes bigger to lose.
With reference to Fig. 3,6, ship unloaders trolley location determination：
A, zero meter of position reference signal scaling：
Using the center line of main carriage 1 as main carriage position, the center line of main carriage 1 runs to zero with main carriage During the rice position line, zero meter of position reference signaling switch just sends zero meter of position signal, ship unloaders PLC systems to ship unloaders PLC system System accordingly carries out main carriage physical location zero meter of calibration, it is ensured that the trolley physical location that PLC is calculated is correct all the time, zero Rice position trolley forward, when moving forwards, the actual motion position of trolley is exactly the row in zero meter of position plus or minus trolley Walk distance.
B, main carriage running position determines：
Trolley actual motion position is to increase incremental encoder newly by vehicle motor to send 2 phase pulses when motor operates, and is led to Cross calculating for PLC inner setting logics.Specifically, due to gear reducer speed ratio, the steel wire rope of main carriage travelling mechanism The diameter of reel is definite value, therefore the displacement stroke of main carriage is also definite value S when main carriage motor fortune turns aroundD.And master is small Vehicle motor increases encoder and main carriage synchronizing motors newly, corresponding to the encoder of 1024P/r（We are using 1024 arteries and veins Punching/circle encoder）Often send 1 pulse, unit pulse trolley displacement SP=SD/ 1024 be also definite value（Constant）.
When main carriage runs to zero meter of position line of main carriage, triggering zero meter of position reference signaling switch of trolley is sent out to PLC Go out signal, PLC is to small truck position zero setting（Small truck position is 0 meter）.When main carriage does forward and backward operation from zero meter of position line of main carriage When, PLC progress plus-minus countings, bonding unit pulse trolley displacement data S are sent into the pulse that main carriage motor encoder is sentP Trolley can be calculated and currently run physical location.PLC has the function of trolley position data memory is kept.
It is expected that feasibility and prospect that invention promotes and applies
A kind of ship unloaders main carriage horizontal wheels anti-dropout system and method for design can improve equipment safety more than Performance, when main carriage horizontal wheels are abnormal, can differentiate specific abnormal position at the first time and prevent due to unloading Owner's trolley horizontal wheels anomaly causes the significant troubles such as main carriage derailing not in time, unloads in all kinds of harbour bridge-type grabs Machine equipment all can be used, and application prospect is extensive.

Claims (1)

  1. A kind of 1. method for early warning of ship unloaders main carriage horizontal wheels anti-dropout early warning system, it is characterized in that comprising the following steps：
    A, zero meter of position reference signal scaling：
    Using the center line of main carriage as main carriage position, the center line of main carriage runs to zero meter of position with main carriage During line, zero meter of position reference signaling switch just sends zero meter of position signal to ship unloaders PLC system, and ship unloaders PLC system is accordingly Zero meter of calibration is carried out to main carriage physical location, it is ensured that the trolley physical location that PLC is calculated is correct all the time, zero meter of position When trolley moves forwards forward, the actual motion position of trolley is exactly the travel distance in zero meter of position plus or minus trolley；
    B, main carriage running position determines：
    Main carriage running position=incremental encoder umber of pulse × unit pulse trolley displacement SP；Unit pulse trolley displacement SP =SD/1024；SDThe displacement stroke of main carriage when main carriage motor fortune turns around；
    C, the detection of failure horizontal wheels
    The distance of main carriage center line to homonymy trolley horizontal wheels is equal, if each level takes turns to main carriage center Linear distance be S0 meter, then main carriage center line running position be 10+S0 meters when, main carriage left side 2 horizontal wheels respectively with Being overlapped close to switch on lower track beam, at this time as there is 1 horizontal wheels that small bottom offset occurs in the horizontal wheels of left side, then corresponds to Below horizontal wheels close to switch motion；Or, main carriage center line running position be 10-S0 meter when, main carriage right side 2 Horizontal wheels are as small in there is 1 horizontal wheels to occur in the horizontal wheels of right side at this time respectively with being overlapped close to switch on lower track beam Bottom offset, then correspond to below horizontal wheels close to switch motion；
    Ship unloaders PLC system judges that the close of current action is opened according to main carriage current location is 10+S0 or 10-S0 accordingly Pass be on the left of main carriage horizontal wheels failure cause or main carriage on the left of horizontal wheels failure cause, then add action is close to switch Main carriage upstream track girder or downstream track girder this condition, just can accurate judgement be main carriage which horizontal wheels occur therefore Barrier；
    D, fault alarm and control
    The main carriage horizontal wheels fault-signal of detection is further processed in PLC：
    1）, restricting signal, control main carriage low speed operation are sent to main carriage motor driving frequency converter；
    2）, to drivers' cab monitoring touch-screen send picture and text, audible warning.
CN201610961472.2A 2016-11-04 2016-11-04 A kind of ship unloaders main carriage horizontal wheels anti-dropout method for early warning Active CN106395639B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108873859B (en) * 2018-05-31 2020-07-31 浙江工业大学 Bridge type grab ship unloader fault prediction model method based on improved association rule

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* Cited by examiner, † Cited by third party
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DE2935113A1 (en) * 1979-08-30 1981-04-02 Passavant-Werke Michelbacher Hütte, 6209 Aarbergen Bridge alignment control - with fixed pairs of markings and sensors on each propulsion unit responding to them
RU2061645C1 (en) * 1993-06-21 1996-06-10 Оренбургский политехнический институт Bridge crane support skewing limiter
US5575220A (en) * 1995-06-20 1996-11-19 Kone Wood Inc. Side roller assembly for gantry crane bridge wheels
CN1210199C (en) * 2002-09-24 2005-07-13 徐传凯 Rail-gnawing prevention device for double-track vehicle
CN201292209Y (en) * 2008-09-25 2009-08-19 上海梅山钢铁股份有限公司 Horizontal wheel
CN201321348Y (en) * 2008-11-27 2009-10-07 比亚迪股份有限公司 Crown block positioning device and crown block hauling system
CN102795543A (en) * 2012-09-10 2012-11-28 三一集团有限公司 Deviation rectification system, crane and deviation rectification method
CN203065037U (en) * 2012-12-24 2013-07-17 浙江吉利汽车有限公司 Abnormal detection device for bearing wheel of hanging tool

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