CN107298378A - A kind of intelligent Overhead travelling crane system of force-measuring type - Google Patents
A kind of intelligent Overhead travelling crane system of force-measuring type Download PDFInfo
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- CN107298378A CN107298378A CN201710554869.4A CN201710554869A CN107298378A CN 107298378 A CN107298378 A CN 107298378A CN 201710554869 A CN201710554869 A CN 201710554869A CN 107298378 A CN107298378 A CN 107298378A
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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
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of intelligent Overhead travelling crane system of force-measuring type, it is related to industrial overhead traveling crane field, including：Transport overhead traveling crane, load-carrying harvester, the material being mounted on overhead crane orbit deliver drive module and electronic control module；Transporting overhead traveling crane is used for transported material；Transporting overhead traveling crane includes overhead traveling crane body, hoist engine, lifting rope and suspension hook；Hoist engine is installed on overhead traveling crane body, and suspension hook is connected by lifting rope with hoist engine；Suspension hook is additionally operable to hook and hangs feed bin；Transport overhead traveling crane is additionally provided with overhead traveling crane traveling drive module；Wherein, electronic module is by gathering load-carrying data, solves angle of oscillation, and controls overhead traveling crane traveling realization to disappear rolling.The present invention stability weighed is assessed by angle of oscillation, can accurate Characterization rock degree；And further solved according to angle of oscillation disappear shake needed for wave horizontal displacement L so that overhead traveling crane accurate movement and can control to disappear rolling.The present invention only needs to obtain the maximum and minimum value of load-carrying data, you can further solve angle of oscillation；It is convenient to solve, and calculates accurate.
Description
Technical field
The present invention relates to industrial travelling overhead crane apparatus, more particularly to a kind of intelligent Overhead travelling crane system of force-measuring type.
Background technology
In the industrial production, lifting overhead traveling crane is usually used in transport production material, finished product, is the visual plant of industrialized production.
In the prior art, when feeding intake or loading article, the feed bin of overhead traveling crane can rock, and influence the handing-over efficiency of material.
The content of the invention
In view of the drawbacks described above of prior art, the technical problems to be solved by the invention are to provide a kind of force-measuring type intelligence
Overhead travelling crane system, it is intended to which the rolling that disappears is carried out to feed bin.
To achieve the above object, the invention provides a kind of intelligent Overhead travelling crane system of force-measuring type, including：
The transport overhead traveling crane on overhead crane orbit is mounted in, the transport overhead traveling crane is used for transported material；The transport overhead traveling crane includes
Overhead traveling crane body, hoist engine, lifting rope and suspension hook；The hoist engine is installed on the overhead traveling crane body, and the suspension hook passes through described
Lifting rope is connected with the hoist engine；The suspension hook is additionally operable to hook and hangs feed bin；The transport overhead traveling crane is additionally provided with overhead traveling crane traveling driving
Module, for controlling the transport overhead traveling crane to be advanced on the overhead crane orbit；
Load-carrying harvester, the load-carrying parameter for gathering the feed bin；
Material delivers drive module, for controlling the feed bin to deliver material；
And electronic control module；
First output end of the electronic control module is connected with the overhead traveling crane traveling drive module；The Electronic Control mould
The input that second output end of block delivers drive module with the material is connected；3rd input of the electronic control module
It is connected with the output end of the load-carrying harvester；
The electronic control module, including：
Load value sequence construct module, for the load-carrying parameter of continuous acquisition Overhead travelling crane system, builds load-carrying value sequence Fi；
Load-carrying extreme value acquisition module, for according to the load-carrying value sequence Fi, obtain the very big average F of load-carryingmaxWith load-carrying pole
Small average Fmin；The very big average F of load-carryingmaxFor the load-carrying value sequence FiIn several higher values average, the load-carrying
Minimum average FminFor the load-carrying value sequence FiIn several smaller values average；
Angle of oscillation solves module, the angle of oscillation θ for rocking behavior for solving the feed bin；It is described to meet：
Wave horizontal displacement and solve module, for judging whether the angle of oscillation θ exceeds threshold value, if the angle of oscillation θ is super
Go out threshold value, then according to the angle of oscillation θ, solve disappear shake needed for wave horizontal displacement L, the L=rsin θ；The r is to wave
Radius；If the angle of oscillation θ is without departing from threshold value, carries out material and deliver operation；；
Disappear rolling drive module, for waving horizontal displacement L according to, controls the overhead traveling crane movement.
In the present embodiment, the stability weighed is assessed by angle of oscillation；Due to angle of oscillation its physical property energy in itself
Enough reflection physical meanings well, can accurate Characterization rock degree；And needed for the rolling that disappears further is solved according to angle of oscillation
Wave horizontal displacement L so that overhead traveling crane accurate movement and can control to disappear rolling.In the present embodiment, it is only necessary to obtain load-carrying data
Maximum and minimum value, you can further solve angle of oscillation；The load-carrying data can weigh maximum and minimum value for feed bin
Data or load-carrying maximum and minimum Value Data or feed bin pulling force of some interior local individual of feed bin are most
Big value and minimum value.The present embodiment, it is convenient to solve, and calculates accurate.
Optionally, the threshold value is preset value or empirical value.
In one embodiment, the load-carrying harvester is pulling force sensor；The pulling force sensor is set and institute
State between feed bin and the hoist engine.
Optionally, the pulling force sensor is arranged between the lifting rope and the suspension hook；
Optionally, the pulling force sensor is arranged between the suspension hook and the feed bin；
Optionally, the pulling force sensor is arranged between the hoist engine and the lifting rope；
Optionally, the pulling force sensor is arranged on the lifting rope.
In one embodiment, the load-carrying harvester is weighing sensor；The weighing sensor is used to measure
The load value of object in the feed bin or feed bin.
Object includes but is not limited to material in feed bin, tester in feed bin in the feed bin.Optionally, the feed bin
Interior tester is that standard weighs part.It is noted that in the present invention, due to angle of oscillation and the very big average of load-carrying and load-carrying pole
The ratio of small average is relevant, so the object of load weighing is not limited, in fact, weighing the overall very big average of load-carrying of material bin
With the ratio of the minimum average of load-carrying and to weigh the very big average of load-carrying of component home with the ratio of the minimum average of load-carrying be equal.
So, in this embodiment, weighing sensor can select thing of weighing according to the actual requirements.
Optionally, choose the less thing of weighing of weight to measure, using the weighing sensor of small amount journey, reduce into
This.Optionally, choose the larger thing of weighing of weight to measure, improve the rolling precision that disappears.
In one embodiment, the load-carrying parameter of the feed bin includes：Overhead traveling crane feed bin weighing data or overhead traveling crane pulling force number
According to.
In one embodiment, the load-carrying extreme value acquisition module, is additionally operable to：
From the load-carrying value sequence FiA maximum is selected, the very big average F of the load-carrying is used asmax；
From the load-carrying value sequence FiA minimum value is selected, the minimum average F of the load-carrying is used asmin。
In the present embodiment, the maximum and minimum value in load-carrying value sequence are directly chosen as load-carrying extreme value, speed is solved
Degree is fast.
In one embodiment, the load-carrying extreme value acquisition module, is additionally operable to：
To the load-carrying value sequence FiIt is ranked up by size, obtains the first load-carrying sequence { Fn}；1≤n of the n satisfactions≤
I, the I are the load-carrying value sequence FiSequence length；
From the first load-carrying sequence { FnThe middle preceding k angle of oscillation higher value { F of selectionk}；The k meets 1≤k ＜ I；Obtain
Take the very big average F of the load-carryingmax, the Fmax=avg { Fk}；
From the first load-carrying sequence { FnIn choose after m angle of oscillation smaller value { Fm}；The m meets 1 ＜ m≤I；Obtain
Take the minimum average F of the load-carryingmin, the Fmin=avg { Fm}。
By the program, more accurate load-carrying extreme value can be obtained, so that angle of oscillation is solved accurately.
In one embodiment, the angle of oscillation solves module, is additionally operable to：
Obtain the minimum average F of the load-carryingminWith the very big average F of the load-carryingmaxRatio cc；α=the Fmin/Fmax；
Obtain the angle of oscillation θ of the overhead traveling crane；It is described to meet：
By the technical scheme, the proportionate relationship of the minimum average of load-carrying and the very big average of load-carrying only need to be obtained, without examining
Consider the acquisition form of the minimum average of load-carrying and the very big average of load-carrying, improve system compatibility.
In one embodiment, the rolling drive module that disappears, is additionally operable to gather instant angle of oscillation θ in real timei, it is described
When angle of oscillation θiIn increase tendency and the θiDuring >=α θ, horizontal displacement L is waved according to described, the overhead traveling crane movement is controlled；Institute
State 0 ＜ α≤1.
Optional α=0.9；It is noted that α values are bigger, the speed that overhead traveling crane need to be moved is also bigger, now, and disappear rolling
Operation is also more effective.It is assumed that the waved radius of overhead traveling crane Pendulum Model is 4m, overhead traveling crane rocks angle at 5 °, unilateral horizontal pan displacement
About 0.35m, rocks sense sense obvious.Rock sense obvious, and shift value is for overhead traveling crane movement velocity, horizontal pan displacement
And less, overhead traveling crane movement velocity can meet requirement.It is assumed that angle of oscillation θ=5 °, when instant angle of oscillation reaches 4.5 °, carry out overhead traveling crane
Mobile realization disappears rolling.
By the technical scheme, mobile overhead crane effectively realizes the rolling that disappears.
In one embodiment, the step S6 also includes：Judge instant angle of oscillation θiWhether increase tendency is in；Institute
State and judge instant angle of oscillation θiIt is by judging the instant angle of oscillation θ of front and rear at least two whether to be in increase tendencyiMagnitude relationship；
If the instant angle of oscillation collected after is larger, instant angle of oscillation θ is judgediIn increase tendency.
By the technical scheme, by judging instant angle of oscillation θiWhether increase tendency is in, and carry out dolly movement
Realization disappears rolling, and raising disappears rolling accuracy.
In one embodiment, the load-carrying value sequence FiAt least include a hunting period.
The beneficial effects of the invention are as follows：The present invention assesses the stability weighed by angle of oscillation；Due to angle of oscillation in itself
Its physical property can be good at reflect physical meaning, can accurate Characterization rock degree；And further asked according to angle of oscillation
Solution disappears shake needed for wave horizontal displacement L so that overhead traveling crane accurate movement and can control to disappear rolling.The present invention only needs to obtain load-carrying
The maximum and minimum value of data, you can further solve angle of oscillation；The load-carrying data can weigh maximum and most for feed bin
The load-carrying maximum of some local individual and minimum Value Data or feed bin pulling force in small Value Data or feed bin
Maximum and minimum value, it is convenient to solve, and calculates accurate.
Brief description of the drawings
Fig. 1 is a kind of Electronic Control structural representation of the intelligent Overhead travelling crane system of force-measuring type of the embodiment of the invention
Figure；
Fig. 2 is that overhead traveling crane feed bin in the embodiment of the invention waves model；
Fig. 3 is the structural representation of the Overhead travelling crane system in the embodiment of the invention.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples：
As Figure 1-3, there is provided a kind of intelligent Overhead travelling crane system of force-measuring type, methods described in the first embodiment of the invention
Including：
The transport overhead traveling crane 101 on overhead crane orbit 102 is mounted in, the transport overhead traveling crane 101 is used for transported material；The transport
Overhead traveling crane 101 includes overhead traveling crane body, hoist engine 103, lifting rope 104 and suspension hook 105；The hoist engine 103 is installed on the overhead traveling crane
On body, the suspension hook 105 is connected by the lifting rope 104 with the hoist engine 103；The suspension hook 105 is additionally operable to hook and hangs material
Storehouse 106；The transport overhead traveling crane 101 is additionally provided with overhead traveling crane traveling drive module 301, for controlling the transport overhead traveling crane 101 in institute
State and advanced on overhead crane orbit 102；
Load-carrying harvester 107, the load-carrying parameter for gathering the feed bin 106；
Material delivers drive module 302, for controlling the feed bin 106 to deliver material；
And electronic control module 200；
First output end of the electronic control module 200 is connected with the overhead traveling crane traveling drive module 301；The electronics
The input that second output end of control module 200 delivers drive module 302 with the material is connected；The electronic control module
200 the 3rd input is connected with the output end of the load-carrying harvester 107；
The electronic control module 200, including：
Load value sequence construct module 201, for the load-carrying parameter of continuous acquisition Overhead travelling crane system, builds load-carrying value sequence
Fi；
Load-carrying extreme value acquisition module 202, for according to the load-carrying value sequence Fi, obtain the very big average F of load-carryingmaxAnd load
The minimum average F of weightmin；The very big average F of load-carryingmaxFor the load-carrying value sequence FiIn several higher values average, it is described
The minimum average F of load-carryingminFor the load-carrying value sequence FiIn several smaller values average；
Angle of oscillation solves module 203, the angle of oscillation θ for rocking behavior for solving the feed bin 106；It is described to meet：
Wave horizontal displacement and solve module 204, for judging whether the angle of oscillation θ exceeds threshold value, if the angle of oscillation θ
Beyond threshold value, then according to the angle of oscillation θ, solve disappear shake needed for wave horizontal displacement L, the L=rsin θ；The r is to shake
Put radius；If the angle of oscillation θ is without departing from threshold value, carries out material and deliver operation；；
Disappear rolling drive module 205, for waving horizontal displacement L according to, controls the overhead traveling crane movement.Pass through overhead traveling crane
The control overhead traveling crane movement of traveling drive module 301.
Optionally, the threshold value is preset value or empirical value.
Such as Fig. 2 waves model for overhead traveling crane feed bin 106, and in the rocking process of feed bin 106, angle of oscillation is defined as into single shake
Maximum angle of rocking is angle of oscillation θ in the pendulum cycle.It can be seen from the conservation of energy：
Wherein, m is the equivalent mass of feed bin 106, and g is acceleration of gravity, and h is the difference in height for rocking peak and minimum point；v
When being centrally located at minimum point for feed bin 106, the horizontal velocity of feed bin 106.
It can be seen from geometrical relationship：
H=(1-cos θ) r (2)；
Wherein, r is to wave half 111 footpaths 111.
In addition, being located at the stressing conditions of highs and lows according to bead, pulling force is met respectively：
Fmin=cos θ mg (4)；
Simultaneous equation (1)-(5) can be obtained：
In the present embodiment, the stability weighed is assessed by angle of oscillation；Due to angle of oscillation its physical property energy in itself
Enough reflection physical meanings well, can accurate Characterization rock degree；And needed for the rolling that disappears further is solved according to angle of oscillation
Wave horizontal displacement L so that overhead traveling crane accurate movement and can control to disappear rolling.In the present embodiment, it is only necessary to obtain load-carrying data
Maximum and minimum value, you can further solve angle of oscillation；The load-carrying data can weigh maximum and minimum for feed bin 106
The load-carrying maximum of some local individual and minimum Value Data or feed bin 106 in Value Data or feed bin 106
The maximum and minimum value of pulling force.The present embodiment, it is convenient to solve, and calculates accurate.
It is noted that due to angle of oscillation θ and Fmax、FminBetween concrete numerical value size it is unrelated, only need Fmax、FminBetween
The timing of ratio one, solves acquisition angle of oscillation θ also consistent.So, optionally, by gathering the numerical value of weighing of feed bin 106, carried
Weight values sequence Fi；Optionally, by gathering overhead traveling crane steel wire pulling force, load-carrying value sequence F is obtainedi；Optionally, to a certain in feed bin 106
Object is weighed, and with the value of weighing of the object, builds load-carrying value sequence Fi；
In the present embodiment, the load-carrying harvester 107 is pulling force sensor；The pulling force sensor set with it is described
Between feed bin 106 and the hoist engine 103.
Optionally, the pulling force sensor is arranged between the lifting rope 104 and the suspension hook 105；
Optionally, the pulling force sensor is arranged between the suspension hook 105 and the feed bin 106；
Optionally, the pulling force sensor is arranged between the hoist engine 103 and the lifting rope 104；
Optionally, the pulling force sensor is arranged on the lifting rope 104.
In the present embodiment, the load-carrying harvester 107 is weighing sensor；The weighing sensor is used to measure institute
State the load value of object in feed bin 106 or feed bin 106.
Object includes but is not limited to material in feed bin 106, tester in feed bin 106 in the feed bin 106.Optionally, institute
It is that standard weighs part to state tester in the feed bin 106.It is noted that in the present invention, due to angle of oscillation and load-carrying pole
Big average is relevant with the ratio of the minimum average of load-carrying, so the object of load weighing is not limited, in fact, weighing material bin 106
The overall very big average of load-carrying and the ratio and the very big average of load-carrying of weighing component home of the minimum average of load-carrying and load-carrying are minimum
The ratio of average is equal.So, in this embodiment, weighing sensor can select thing of weighing according to the actual requirements.
Optionally, choose the less thing of weighing of weight to measure, using the weighing sensor of small amount journey, reduce into
This.Optionally, choose the larger thing of weighing of weight to measure, improve the rolling precision that disappears.
In the present embodiment, the load-carrying parameter of the feed bin 106 includes：The weighing data of overhead traveling crane feed bin 106 or overhead traveling crane pulling force
Data.
Optionally, the load-carrying extreme value acquisition module 202, is additionally operable to：
From the load-carrying value sequence FiA maximum is selected, the very big average F of the load-carrying is used asmax；
From the load-carrying value sequence FiA minimum value is selected, the minimum average F of the load-carrying is used asmin。
Optionally, the load-carrying extreme value acquisition module 202, is additionally operable to：
To the load-carrying value sequence FiIt is ranked up by size, obtains the first load-carrying sequence { Fn}；1≤n of the n satisfactions≤
I, the I are the load-carrying value sequence FiSequence length；
From the first load-carrying sequence { FnThe middle preceding k angle of oscillation higher value { F of selectionk}；The k meets 1≤k ＜ I；Obtain
Take the very big average F of the load-carryingmax, the Fmax=avg { Fk}；
From the first load-carrying sequence { FnIn choose after m angle of oscillation smaller value { Fm}；The m meets 1 ＜ m≤I；Obtain
Take the minimum average F of the load-carryingmin, the Fmin=avg { Fm}。
In the present embodiment, it is characterised in that the angle of oscillation solves module 203, is additionally operable to：
Obtain the minimum average F of the load-carryingminWith the very big average F of the load-carryingmaxRatio cc；α=the Fmin/Fmax；
Obtain the angle of oscillation θ of the overhead traveling crane；It is described to meet：
In the present embodiment, the rolling drive module 205 that disappears, is additionally operable to gather instant angle of oscillation θ in real timei, it is described
When angle of oscillation θiIn increase tendency and the θiDuring >=α θ, horizontal displacement L is waved according to described, the overhead traveling crane movement is controlled；Institute
State 0 ＜ α≤1.
Optional α=0.9；It is noted that α values are bigger, the speed that overhead traveling crane need to be moved is also bigger, now, and disappear rolling
Operation is also more effective.It is assumed that the waved radius of overhead traveling crane Pendulum Model is 4m, overhead traveling crane rocks angle at 5 °, unilateral horizontal pan displacement
About 0.35m, rocks sense sense obvious.Rock sense obvious, and shift value is for overhead traveling crane movement velocity, horizontal pan displacement
And less, overhead traveling crane movement velocity can meet requirement.It is assumed that angle of oscillation θ=5 °, when instant angle of oscillation reaches 4.5 °, carry out overhead traveling crane
Mobile realization disappears rolling.
By the technical scheme, mobile overhead crane effectively realizes the rolling that disappears.
In the present embodiment, the step S6 also includes：Judge instant angle of oscillation θiWhether increase tendency is in；It is described to sentence
Break instant angle of oscillation θiIt is by judging the instant angle of oscillation θ of front and rear at least two whether to be in increase tendencyiMagnitude relationship；If
The instant angle of oscillation collected afterwards is larger, then judges instant angle of oscillation θiIn increase tendency.
By the technical scheme, by judging instant angle of oscillation θiWhether increase tendency is in, and carry out dolly movement
Realization disappears rolling, and raising disappears rolling accuracy.
In the present embodiment, the load-carrying value sequence FiAt least include a hunting period, the number for being easy to angle of oscillation to gather
According to accurate.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Need creative work just can make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. the intelligent Overhead travelling crane system of a kind of force-measuring type, it is characterised in that the system includes：
The transport overhead traveling crane on overhead crane orbit is mounted in, the transport overhead traveling crane is used for transported material；The transport overhead traveling crane includes overhead traveling crane
Body, hoist engine, lifting rope and suspension hook；The hoist engine is installed on the overhead traveling crane body, and the suspension hook passes through the lifting rope
It is connected with the hoist engine；The suspension hook is additionally operable to hook and hangs feed bin；The transport overhead traveling crane is additionally provided with overhead traveling crane traveling drive module,
For controlling the transport overhead traveling crane to be advanced on the overhead crane orbit；
Load-carrying harvester, the load-carrying parameter for gathering the feed bin；
Material delivers drive module, for controlling the feed bin to deliver material；
And electronic control module；
First output end of the electronic control module is connected with the overhead traveling crane traveling drive module；The electronic control module
The input that second output end delivers drive module with the material is connected；3rd input of the electronic control module and institute
State the output end connection of load-carrying harvester；
The electronic control module, including：
Load value sequence construct module, for the load-carrying parameter of continuous acquisition Overhead travelling crane system, builds load-carrying value sequence Fi；
Load-carrying extreme value acquisition module, for according to the load-carrying value sequence Fi, obtain the very big average F of load-carryingmaxIt is minimum with load-carrying
Value Fmin；The very big average F of load-carryingmaxFor the load-carrying value sequence FiIn several higher values average, the load-carrying is minimum
Average FminFor the load-carrying value sequence FiIn several smaller values average；
Angle of oscillation solves module, the angle of oscillation θ for rocking behavior for solving the feed bin；It is described to meet：
Wave horizontal displacement and solve module, for judging whether the angle of oscillation θ exceeds threshold value, if the angle of oscillation θ exceeds threshold
Value, then according to the angle of oscillation θ, solve disappear shake needed for wave horizontal displacement L, the L=rsin θ；The r is to wave half
Footpath；If the angle of oscillation θ is without departing from threshold value, carries out material and deliver operation；；
Disappear rolling drive module, for waving horizontal displacement L according to, controls the overhead traveling crane movement.
2. the intelligent Overhead travelling crane system of a kind of force-measuring type as claimed in claim 1, it is characterised in that the load-carrying harvester is drawing
Force snesor；The pulling force sensor is set between the feed bin and the hoist engine.
3. the intelligent Overhead travelling crane system of a kind of force-measuring type as claimed in claim 1, it is characterised in that the load-carrying harvester is title
Retransmit sensor；The weighing sensor is used for the load value for measuring object in the feed bin or feed bin.
4. a kind of intelligent Overhead travelling crane system of force-measuring type as claimed in claim 1, it is characterised in that the load-carrying parameter bag of the feed bin
Include：Overhead traveling crane feed bin weighing data or overhead traveling crane pulling force data.
5. the intelligent Overhead travelling crane system of a kind of force-measuring type as claimed in claim 1, it is characterised in that the load-carrying extreme value obtains mould
Block, is additionally operable to：
From the load-carrying value sequence FiA maximum is selected, the very big average F of the load-carrying is used asmax；
From the load-carrying value sequence FiA minimum value is selected, the minimum average F of the load-carrying is used asmin。
6. the intelligent Overhead travelling crane system of a kind of force-measuring type as claimed in claim 1, it is characterised in that the load-carrying extreme value obtains mould
Block, is additionally operable to：
To the load-carrying value sequence FiIt is ranked up by size, obtains the first load-carrying sequence { Fn}；The n meets 1≤n≤I, institute
I is stated for the load-carrying value sequence FiSequence length；
From the first load-carrying sequence { FnThe middle preceding k angle of oscillation higher value { F of selectionk}；The k meets 1≤k ＜ I；Obtain institute
State the very big average F of load-carryingmax, the Fmax=avg { Fk}；
From the first load-carrying sequence { FnIn choose after m angle of oscillation smaller value { Fm}；The m meets 1 ＜ m≤I；Obtain institute
State the minimum average F of load-carryingmin, the Fmin=avg { Fm}。
7. the intelligent Overhead travelling crane system of a kind of force-measuring type as described in any one in claim 1-6, it is characterised in that described to wave
Angle solves module, is additionally operable to：
Obtain the minimum average F of the load-carryingminWith the very big average F of the load-carryingmaxRatio cc；α=the Fmin/Fmax；
Obtain the angle of oscillation θ of the overhead traveling crane；It is described to meet：
8. a kind of intelligent Overhead travelling crane system of force-measuring type as described in any one in claim 1-6, it is characterised in that the rolling that disappears
Drive module, is additionally operable to gather instant angle of oscillation θ in real timei, in the instant angle of oscillation θiIn increase tendency and the θi≥αθ
When, horizontal displacement L is waved according to described, the overhead traveling crane movement is controlled；0 ＜ α≤1.
9. the intelligent Overhead travelling crane system of a kind of force-measuring type as claimed in claim 8, it is characterised in that the step S6 also includes：Sentence
Break instant angle of oscillation θiWhether increase tendency is in；It is described to judge instant angle of oscillation θiIt is by judging whether to be in increase tendency
The front and rear instant angle of oscillation θ of at least twoiMagnitude relationship；If the instant angle of oscillation collected after is larger, judgement is waved immediately
Angle θiIn increase tendency.
10. a kind of intelligent Overhead travelling crane system of force-measuring type as described in any one in claim 1-6, it is characterised in that the load
Weight values sequence FiAt least include a hunting period.
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| CN201710554869.4A CN107298378B (en) | 2017-07-10 | 2017-07-10 | A kind of force-measuring type intelligence Overhead travelling crane system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112607596A (en) * | 2020-12-16 | 2021-04-06 | 长沙中联恒通机械有限公司 | Method and device for inhibiting swinging of lifting hook of automobile crane |
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| CN103991801A (en) * | 2014-05-12 | 2014-08-20 | 中联重科股份有限公司 | Tower crane, and anti-swing controlling method, device and system of lifting hook of the tower crane |
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| CN1139646A (en) * | 1995-04-24 | 1997-01-08 | 三菱重工业株式会社 | Swing stopper for hanged articles |
| CN1152290A (en) * | 1995-04-26 | 1997-06-18 | 株式会社安川电机 | Method and device for preventing deflection of rope for crane or the like |
| CN1505590A (en) * | 2001-03-05 | 2004-06-16 | �¼��¹�����ѧ | Anti-sway control of a crane under operator's command |
| CN103274298A (en) * | 2013-06-20 | 2013-09-04 | 中联重科股份有限公司 | Method, device and system for controlling trolley driving force of tower type crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112607596A (en) * | 2020-12-16 | 2021-04-06 | 长沙中联恒通机械有限公司 | Method and device for inhibiting swinging of lifting hook of automobile crane |
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| CN107298378B (en) | 2018-06-15 |
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