CN109019337A - Bridge, gantry cart deviation rectification and preventing gnawing rail device and method - Google Patents
Bridge, gantry cart deviation rectification and preventing gnawing rail device and method Download PDFInfo
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- CN109019337A CN109019337A CN201811069563.0A CN201811069563A CN109019337A CN 109019337 A CN109019337 A CN 109019337A CN 201811069563 A CN201811069563 A CN 201811069563A CN 109019337 A CN109019337 A CN 109019337A
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- supporting leg
- soft
- travel
- soft supporting
- track
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/16—Travelling gear incorporated in or fitted to trolleys or cranes with means for maintaining alignment between wheels and track
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The present invention provides a kind of bridge, gantry cart deviation rectification and preventing gnawing rail device, including two group information acquisition devices, is respectively used to the distance values of the practical travel distance of the measurement soft supporting leg of crane and rigid supporting leg and the wheel rim at each supporting leg both ends and track；Main control unit is connect with two group information acquisition devices respectively, generates soft supporting leg control instruction according to the distance values of the wheel rim of the practical travel distance and each supporting leg both ends of soft supporting leg and rigid supporting leg and track；And soft supporting leg travelling control frequency converter, it is connect with the main control unit, the speed of travel of soft supporting leg is controlled to adjust according to the soft supporting leg control instruction.The present invention also provides a kind of correction and preventing gnawing rail methods, it can guarantee the spacing for making crane two sides walking deviation, wheel rim and track in permissible range, the generation for gnawing rail phenomenon is avoided, has the advantages that design science, practical, structure is simple, measurement is accurate.
Description
Technical field
The present invention relates to a kind of Automatic correction device for crane, specifically, relate to a kind of bridge, gantry cart
Deviation rectification and preventing gnawing rail device and method.
Background technique
Bridge, gantry crane obtain very extensive application in the industrial production, are that use scope is most wide, quantity is most
A kind of hoisting machinery.Since bridge, gantry crane have in use, span is big, horizontal rigidity is low, part is more, transmission
The installation accuracy of mechanism is difficult to be completely secured, and bridge, gantry crane have different degrees of sideslip at runtime or gnaw rail
Phenomenon occurs.Cart sideslip can cause very big harm to bridge, gantry crane, it greatly threatens the safety of crane
Operation, increases operation and maintenance cost, drastically influences its production security and production efficiency.Therefore, to bridge, gantry crane
Correction and preventing gnawing rail control carry out further investigation have very great practical significance.
Currently, existing bridge, gantry crane correction and preventing gnawing rail device only according to two supporting legs walking deviation into
Row correction and preventing gnawing rail, effect are sometimes unsatisfactory.Because often there is a phenomenon where such, be exactly large vehicle walking deviation compared with
Small but cart produces the overall offset perpendicular to track, if offset is larger, the walking wheel rim and track of cart side
It may contact and gnaw rail phenomenon, but be normal according to the judgement of large vehicle walking deviation.
In order to solve the above problems, people are seeking always a kind of ideal technical solution.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, to provide a kind of design science, practical, structure
Simply, accurate bridge, gantry cart deviation rectification and preventing gnawing rail device and method are measured.
To achieve the goals above, the technical scheme adopted by the invention is that: Yi Zhongqiao, gantry cart walking entangles
Inclined and preventing gnawing rail device, including
Two group information acquisition devices are respectively used to measure the practical travel distance of the soft supporting leg of crane and rigid supporting leg and each
The wheel rim at leg both ends and the distance values of track；
Main control unit is connect with two group information acquisition devices respectively, according to the practical travel distance of soft supporting leg and rigid supporting leg and
The wheel rim at each supporting leg both ends and the distance values of track generate soft supporting leg control instruction；And
Soft supporting leg travelling control frequency converter, connect with the main control unit, is controlled to adjust according to the soft supporting leg control instruction soft
The speed of travel of supporting leg.
Based on above-mentioned, the information collecting device includes a rotary encoder and two distance measuring sensors, the rotation
Turn encoder and is respectively used to measure the supporting leg front and back for measuring the practical travel distance of the supporting leg, two distance measuring sensors
The distance values of wheel rim and track.
Based on above-mentioned, two rotary encoders are correspondingly arranged on the traveling wheel of two supporting leg the same ends, and the ranging passes
Sensor is separately positioned on each supporting leg front and back wheel wheel rim.
The correction based on the bridge, gantry cart deviation rectification and preventing gnawing rail device that the present invention also provides a kind of
Method is gnawed with anti-, this method comprises:
Step 1, the speed of travel for presetting rigid supporting leg, soft supporting leg drives rigid supporting leg and soft supporting leg according to preset speed of travel row
Into；
Step 2, the practical travel distance of soft supporting leg and rigid supporting leg and the wheel rim at each supporting leg both ends and track are acquired in real time
Distance values；
Step 3, each traveling wheel is compared with the distance values of track with minimum allowable spacing respectively；
Step 4, according to comparison result and the direction of travel of crane, generate soft supporting leg control instruction be sent to it is described soft
Supporting leg travelling control frequency converter is to adjust the travel speed of soft supporting leg；
Step 5, judge whether the real-time distance values of each traveling wheel and track meet theoretical gap, then follow the steps 6 if meeting,
4 are returned to step if not meeting；
Step 6, two supporting leg deviation of stroke are calculated according to the practical travel distance of soft supporting leg and rigid supporting leg, it is inclined compares two supporting leg strokes
Whether difference is more than maximum allowable offset, if exiting this method not above if；If being more than to then follow the steps 7；
Step 7, the practical travel distance of more soft supporting leg and rigid supporting leg, according to the traveling side of comparison result and crane
To generating soft supporting leg control instruction and be sent to the soft supporting leg travelling control frequency converter to adjust the travel speed of soft supporting leg；
Step 8, two supporting leg deviation of stroke are calculated according to the practical travel distance of soft supporting leg and rigid supporting leg, it is inclined compares two supporting leg strokes
Whether difference is located within the scope of allowable deviation, returns to step 6 if beyond allowable deviation range, if being located at allowable deviation range
It is interior, then it continues to determine whether to terminate correction and prevents gnawing process, this method is exited if terminating, if not terminating to return to step
1。
Based on above-mentioned, soft supporting leg control instruction includes four control switch amounts (D1, D2, D3, D4), wherein control switch
Amount D1 and control switch amount D2 is used to indicate the direction of travel of crane, and control switch amount D3 and control switch amount D4 are used for
Indicate that ideal velocity value walks the variation tendency of velocity amplitude relative to current line.
Based on above-mentioned, control switch amount D1 and control switch amount D2 have (1,0) and (0,1) two kinds of combinations, wherein (1,0)
For indicating that the direction of travel of crane is to move to left；(0,1) for indicating that the direction of travel of crane is to move to right；
Control switch amount D3 and control switch amount D4 has (1,0), (0,1) and (1,1) three kinds of combinations, wherein (0,1) for indicating
Ideal velocity value is walked velocity amplitude relative to current line and is reduced；(1,0) for indicating ideal velocity value relative to the current speed of travel
It is worth constant；(1,1) increase for indicating that ideal velocity value walks velocity amplitude relative to current line.
Based on above-mentioned, step 4 includes:
Step 4.1, judge whether the spacing of rigid supporting leg front end traveling wheel and track is less than or equal to minimum allowable spacing, and soft simultaneously
Whether the spacing of supporting leg front end traveling wheel and track is greater than minimum allowable spacing, if so, thening follow the steps 4.2；Otherwise step is executed
Rapid 4.3；
Step 4.2, judge the direction of travel of crane, if the direction of travel of crane is to move to left, generate soft branch
Leg control instruction (1,0,1,1) is sent to the soft supporting leg travelling control frequency converter；Otherwise generate soft supporting leg control instruction (0,1,
0,1) it is sent to the soft supporting leg travelling control frequency converter；
Step 4.3, judge whether the spacing of soft supporting leg front end traveling wheel and track is less than or equal to minimum allowable spacing, while just branch
Whether the spacing of leg front end traveling wheel and track is greater than minimum allowable spacing, if so, thening follow the steps 4.4；It is no to then follow the steps
5；
Step 4.4, judge the direction of travel of crane, if the direction of travel of crane is to move to left, generate soft branch
Leg control instruction (1,0,0,1) is sent to the soft supporting leg travelling control frequency converter；Otherwise generate soft supporting leg control instruction (0,1,
1,1) it is sent to the soft supporting leg travelling control frequency converter.
Based on above-mentioned, enabling the right endpoint of track is stroke reference 1120 point, according to each supporting leg relative to stroke reference 1120 point away from
Sentence from the direction of travel that variation tendency judges crane if each supporting leg becomes smaller relative to the distance of stroke reference 1120 point
The direction of travel for determining crane is to move to right；Otherwise the direction of travel for determining crane is to move to left.
Based on above-mentioned, step 5 includes:
Step 5.1, judge whether soft supporting leg control instruction is (0,1,0,1), (1,0,1,1), (0,1,0,1) or (1,0,1,1),
If (0,1,0,1) or (1,0,1,1), 5.2 are thened follow the steps；If (0,1,0,1) or (1,0,1,1), then follow the steps
5.3；
Step 5.2, if soft supporting leg control instruction be (0,1,0,1) or (1,0,1,1), then judge rigid supporting leg front end traveling wheel, just
Whether the spacing of supporting leg rear end traveling wheel, soft supporting leg rear end traveling wheel and track is more than or equal to theoretical gap, if just before supporting leg
The spacing of traveling wheel and track is held to be more than or equal to theoretical gap, while the just rear end traveling wheel of supporting leg or the rear end row of soft supporting leg
The spacing for walking wheel and track is more than or equal to theoretical gap, then continues to execute step 6,4.2 are returned to step if not meeting；
Step 5.3, if soft supporting leg control instruction is (0,1,1,1) or (1,0,0,1), then judge the rear end walking of rigid supporting leg
Whether the spacing of wheel, the front end traveling wheel of soft supporting leg, the rear end traveling wheel of soft supporting leg and track is more than or equal to theoretical gap, if soft
The front end traveling wheel of supporting leg and the spacing of track are more than or equal to theoretical gap, while the just rear end traveling wheel or soft supporting leg of supporting leg
Rear end traveling wheel and the spacing of track be more than or equal to theoretical gap, then continue to execute step 6, returned if not meeting and execute step
Rapid 4.4.
Based on above-mentioned, step 7 includes:
7.1, the practical travel distance of more soft supporting leg and rigid supporting leg, if the practical travel distance of steel leg is greater than the row of soft supporting leg
Distance is walked, thens follow the steps 7.2, it is no to then follow the steps 7.3；
7.2, judge the direction of travel of crane, if the direction of travel of crane is to move to left, generates soft supporting leg control
System instruction (1,0,1,1) is sent to the soft supporting leg travelling control frequency converter；Otherwise soft supporting leg control instruction (0,1,0,1) is generated
It is sent to the soft supporting leg travelling control frequency converter；
7.3, judge the direction of travel of crane, if the direction of travel of crane is to move to left, generates soft supporting leg control
System instruction (1,0,0,1) is sent to the soft supporting leg travelling control frequency converter；Otherwise soft supporting leg control instruction (0,1,1,1) is generated
It is sent to the soft supporting leg travelling control frequency converter.
The present invention has substantive distinguishing features outstanding and significant progress compared with the prior art, and specifically, the present invention adopts
With two rotary encoders to measure the practical travel distance of two supporting leg of crane, four distance measuring sensors are to measure each supporting leg two
The spacing of end walking wheel rim and track, main control unit control soft according to two supporting leg travel distance deviations and four distance values
The branch speed of travel, it is ensured that make the spacing of crane two sides walking deviation, wheel rim and track in permissible range, avoid and gnaw rail
The generation of phenomenon has the advantages that design science, practical, structure is simple, measurement is accurate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of device of the present invention.
Fig. 2 is the flow diagram of the method for the invention.
In figure, 1. main control units；2. soft branch travelling control frequency converter；3. rigid supporting leg siding track；4. soft supporting leg siding track；5.
Rigid supporting leg front end traveling wheel；6. rigid supporting leg rear end traveling wheel；7. soft supporting leg front end traveling wheel；8. soft supporting leg rear end traveling wheel；9.
Rigid supporting leg side rotary encoder；10. rigid supporting leg side 1# distance measuring sensor；11. rigid supporting leg side 2# distance measuring sensor；12. soft supporting leg
Side rotary encoder；13. soft supporting leg side 1# distance measuring sensor；14. soft supporting leg side 2# distance measuring sensor.
Specific embodiment
Below by specific embodiment, technical scheme of the present invention will be described in further detail.
As shown in Figure 1, a kind of bridge, gantry cart deviation rectification and preventing gnawing rail device, including the acquisition of two group informations
Device, main control unit 1 and soft branch travelling control frequency converter 2.
Two group information acquisition devices are respectively used to the practical travel distance of the measurement soft supporting leg of crane and rigid supporting leg and every
The wheel rim at a supporting leg both ends and the distance values of track；Specifically, the information collecting device include a rotary encoder and
Two distance measuring sensors, the rotary encoder are used to measure the practical travel distance of the supporting leg, two distance measuring sensors point
The distance values of the supporting leg front and back wheel wheel rim and track Yong Yu not measured.
The main control unit 1 is connect with two group information acquisition devices respectively, according to the practical walking of soft supporting leg and rigid supporting leg
The distance values of the wheel rim and track at distance and each supporting leg both ends generate soft supporting leg control instruction, and are sent to the soft subbranch
Walk to control frequency converter 2；The soft branch travelling control frequency converter 2 controls to adjust the row of soft supporting leg according to the soft supporting leg control instruction
Walk speed.
In actual use, two rotary encoders are respectively that rigid supporting leg side rotary encoder 9 and the rotation of soft supporting leg side are compiled
Code device 12, and the rigid supporting leg side rotary encoder 9 and the soft supporting leg side rotary encoder 12 are correspondingly arranged at two supporting legs
On the traveling wheel of the same end；Preferably, in the present invention, the rigid supporting leg side rotary encoder 9 is arranged in rigid supporting leg front end row
Walk on wheel 5, with the rigid supporting leg front end traveling wheel 5(follower) it rotates together to measure the travel distance of the rigid supporting leg；Institute
Soft supporting leg side rotary encoder 12 is stated to be arranged on soft supporting leg front end traveling wheel 7, it is passive with the soft supporting leg front end traveling wheel 7(
Wheel) it rotates together to measure the travel distance of the soft supporting leg；The main control unit 1 is according to the data meters of two rotary encoders
It calculates the stroke of two supporting legs and obtains the deviation of stroke value of two supporting legs.
Four distance measuring sensors are respectively rigid supporting leg side 1# distance measuring sensor 10, rigid supporting leg side 2# distance measuring sensor 11, soft
Supporting leg side 1# distance measuring sensor 13 and soft supporting leg side 2# distance measuring sensor 14；The rigid supporting leg side 1# distance measuring sensor 10 and described
Rigid supporting leg side 2# distance measuring sensor 12 is separately fixed on the outside of the roller box of the rigid supporting leg front end traveling wheel 5 and rigid supporting leg rear end row
On the outside of the roller box for walking wheel 6, to measure the spacing of the rigid supporting leg front/rear end traveling wheel and rigid supporting leg siding track 3；The soft supporting leg
Side 1# distance measuring sensor 13 and the soft supporting leg side 2# distance measuring sensor 14 are separately fixed at the soft supporting leg front end traveling wheel 7
On the outside of roller box and on the outside of the roller box of soft supporting leg rear end traveling wheel 8, to measure the front/rear end traveling wheel of the soft supporting leg and soft supporting leg side
The spacing of track 4.
The main control unit determines soft according to the distance values that the deviation of stroke value of two supporting legs and four distance measuring sensors measure
Supporting leg control instruction, and the soft supporting leg control instruction is sent to walking of the soft branch travelling control frequency converter 2 to control soft supporting leg
Speed, make crane two sides walking deviation, the spacing of wheel rim and track in permissible range when stop controlling.
The correction based on the bridge, gantry cart deviation rectification and preventing gnawing rail device that the present invention also provides a kind of
Method is gnawed with anti-, as shown in Fig. 2, this method comprises:
Step 1, soft supporting leg control instruction (1,0,1,0) is preset, drives rigid supporting leg and soft supporting leg according to preset speed of travel row
Into.
Specifically, soft supporting leg control instruction includes four control switch amounts (D1, D2, D3, D4), wherein control switch amount
D1 and control switch amount D2 is used to indicate that the direction of travel of crane, control switch amount D3 and control switch amount D4 to be used for table
Show that ideal velocity value walks the variation tendency of velocity amplitude relative to current line.
Preferably, control switch amount D1 and control switch amount D2 has (1,0) and (0,1) two kinds of combinations, wherein (1,0) uses
In indicate crane direction of travel be move to left；(0,1) for indicating that the direction of travel of crane is to move to right；
Control switch amount D3 and control switch amount D4 has (1,0), (0,1) and (1,1) three kinds of combinations, wherein (0,1) for indicating
Ideal velocity value is walked velocity amplitude relative to current line and is reduced；(1,0) for indicating ideal velocity value relative to the current speed of travel
It is worth constant；(1,1) increase for indicating that ideal velocity value walks velocity amplitude relative to current line.
Step 2, the practical travel distance of soft supporting leg and rigid supporting leg and the wheel rim and rail at each supporting leg both ends are acquired in real time
The distance values in road.
Step 3, each traveling wheel is compared with the distance values of track with minimum allowable spacing respectively.
Wherein, rigid supporting leg front end traveling wheel 5 and the spacing of rigid 3 track of supporting leg siding track are indicated with d1, rigid supporting leg rear end row
Walk wheel 6 and the spacing of rigid 3 track of supporting leg siding track is indicated with d2, soft supporting leg front end traveling wheel 7 and soft 4 track of supporting leg siding track
Spacing indicates that soft supporting leg rear end traveling wheel 8 and the spacing of soft 4 track of supporting leg siding track are indicated with d4 with d3, theoretically, each wheel rim
Gap should be equal (i.e. d1=d2=d3=d4), be denoted as theoretical gap d E, if minimum allowable spacing is dL.
Step 4, it according to comparison result and the direction of travel of crane, generates soft supporting leg control instruction and is sent to institute
Soft branch travelling control frequency converter 2 is stated to adjust the travel speed of soft supporting leg.
It is to be noted that the judgment method of the direction of travel of crane are as follows: enable rigid supporting leg siding track 3 and soft supporting leg
The right endpoint of siding track 4 is stroke reference 1120 point, and the distance change Trend judgement according to each supporting leg relative to stroke reference 1120 point rises
The direction of travel of heavy-duty machine cart determines the row of crane if each supporting leg becomes smaller relative to the distance of stroke reference 1120 point
It is to move to right into direction；Otherwise the direction of travel for determining crane is to move to left.
Specifically, step 4 includes:
Step 4.1, judge whether rigid supporting leg front end traveling wheel 5 and the spacing d1 of rigid 3 track of supporting leg siding track are less than or equal to minimum
Allow spacing dL, and whether the spacing d3 of soft supporting leg front end traveling wheel 7 and soft supporting leg siding track 4 is greater than minimum allowable spacing simultaneously
DL, if so, thening follow the steps 4.2；It is no to then follow the steps 4.3；
Step 4.2, judge the direction of travel of crane, if the direction of travel of crane is to move to left, generate soft branch
Leg control instruction (1,0,1,1) is sent to the soft branch travelling control frequency converter 2；Otherwise generate soft supporting leg control instruction (0,1,
0,1) it is sent to the soft branch travelling control frequency converter 2；
Step 4.3, judge whether soft supporting leg front end traveling wheel 7 and the spacing d3 of soft supporting leg siding track 4 are less than or equal to minimum allowable
Spacing dL, while just whether supporting leg front end traveling wheel 5 and the spacing d1 of rigid 3 track of supporting leg siding track are greater than minimum allowable spacing
DL, if so, thening follow the steps 4.4；It is no to then follow the steps 5；
Step 4.4, judge the direction of travel of crane, if the direction of travel of crane is to move to left, generate soft branch
Leg control instruction (1,0,0,1) is sent to the soft branch travelling control frequency converter 2；Otherwise generate soft supporting leg control instruction (0,1,
1,1) it is sent to the soft branch travelling control frequency converter 2.
Step 5, judge whether the real-time distance values of each traveling wheel and track meet theoretical gap d E, executed if meeting
Step 6,4 are returned to step if not meeting.
Specifically, step 5 includes:
Step 5.1, judge whether soft supporting leg control instruction is (0,1,0,1), (1,0,1,1), (0,1,0,1) or (1,0,1,1),
If (0,1,0,1) or (1,0,1,1), 5.2 are thened follow the steps；If (0,1,0,1) or (1,0,1,1), then follow the steps
5.3；
Step 5.2, if soft supporting leg control instruction be (0,1,0,1) or (1,0,1,1), then judge rigid supporting leg front end traveling wheel 5, just
Spacing d1, d2 and soft supporting leg rear end traveling wheel 8 of supporting leg rear end traveling wheel 6 and rigid supporting leg siding track 3 and soft supporting leg siding track
Whether 4 spacing d4 is more than or equal to theoretical gap d E, if just supporting leg front end traveling wheel 5 is big with the spacing d1 of rigid supporting leg siding track 3
In being equal to theoretical gap d E, while just after the rear end traveling wheel of supporting leg and the spacing d2 or soft supporting leg of rigid supporting leg siding track 3
It holds the spacing d4 of traveling wheel and soft supporting leg siding track 4 to be more than or equal to theoretical gap d E, then step 6 is continued to execute, if not meeting
Return to step 4.2；
Step 5.3, if soft supporting leg control instruction is (0,1,1,1) or (1,0,0,1), then judge rigid supporting leg rear end traveling wheel 6
With the spacing d2 and soft supporting leg front end traveling wheel 7, soft supporting leg rear end traveling wheel 8 and soft supporting leg siding track 4 of rigid supporting leg siding track 3
Spacing d3, d4 whether be more than or equal to theoretical gap d E, if the spacing d3 of soft supporting leg front end traveling wheel 7 and soft supporting leg siding track 4
More than or equal to theoretical gap d E, while just spacing d2 or soft supporting leg rear end of the supporting leg rear end traveling wheel 6 with rigid supporting leg siding track 3
The spacing d4 of traveling wheel 8 and soft supporting leg siding track 4 is more than or equal to theoretical gap d E, then continues to execute step 6, return if not meeting
Receipt row step 4.4.
Step 6, two supporting leg strokes are calculated according to the practical travel distance L2 of the practical travel distance L1 of rigid supporting leg and soft supporting leg
Deviation delta compares whether two supporting leg deviation of stroke are more than maximum allowable offset Δ H, if exiting this method not above if；If being more than
Then follow the steps 7.
Step 7, the practical travel distance L2 of the practical travel distance L1 of more rigid supporting leg and soft supporting leg, according to comparison result with
And the direction of travel of crane, it generates soft supporting leg control instruction and is sent to the soft branch travelling control frequency converter 2 to adjust
The travel speed of soft supporting leg.
Specifically, step 7 includes:
7.1, the practical travel distance L2 of the more rigid practical travel distance L1 of supporting leg and soft supporting leg, if the practical walking of steel leg away from
From the travel distance L2 that L1 is greater than soft supporting leg, 7.2 are thened follow the steps, it is no to then follow the steps 7.3；
7.2, judge the direction of travel of crane, if the direction of travel of crane is to move to left, generates soft supporting leg control
System instruction (1,0,1,1) is sent to the soft branch travelling control frequency converter 2；Otherwise soft supporting leg control instruction (0,1,0,1) is generated
It is sent to the soft branch travelling control frequency converter 2；
7.3, judge the direction of travel of crane, if the direction of travel of crane is to move to left, generates soft supporting leg control
System instruction (1,0,0,1) is sent to the soft branch travelling control frequency converter 2；Otherwise soft supporting leg control instruction (0,1,1,1) is generated
It is sent to the soft branch travelling control frequency converter 2.
Step 8, two supporting leg strokes are calculated according to the practical travel distance L2 of the practical travel distance L1 of rigid supporting leg and soft supporting leg
Deviation, compares whether two supporting leg deviation of stroke are located in allowable deviation range delta L, returns if beyond allowable deviation range delta L
Step 6 is executed, if being located in allowable deviation range delta L, continues to determine whether to terminate correction and prevents gnawing process, moved back if terminating
This method out returns to step 1 if not terminating.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (10)
1. a kind of bridge, gantry cart deviation rectification and preventing gnawing rail device, it is characterised in that: including
Two group information acquisition devices are respectively used to measure the practical travel distance of the soft supporting leg of crane and rigid supporting leg and each
The wheel rim at leg both ends and the distance values of track；
Main control unit is connect with two group information acquisition devices respectively, according to the practical travel distance of soft supporting leg and rigid supporting leg and
The wheel rim at each supporting leg both ends and the distance values of track generate soft supporting leg control instruction；And
Soft supporting leg travelling control frequency converter, connect with the main control unit, is controlled to adjust according to the soft supporting leg control instruction soft
The speed of travel of supporting leg.
2. bridge according to claim 1, gantry cart deviation rectification and preventing gnawing rail device, it is characterised in that: institute
Stating information collecting device includes a rotary encoder and two distance measuring sensors, and the rotary encoder is described for measuring
The practical travel distance of supporting leg, two distance measuring sensors are respectively used to measure the spacing of the supporting leg front and back wheel wheel rim and track
Value.
3. bridge according to claim 2, gantry cart deviation rectification and preventing gnawing rail device, it is characterised in that: two
A rotary encoder is correspondingly arranged on the traveling wheel of two supporting leg the same ends, and the distance measuring sensor is separately positioned on each
On leg front and back wheel wheel rim.
4. a kind of entangling based on bridge described in claims 1 or 2 or 3, gantry cart deviation rectification and preventing gnawing rail device
Partially and prevent gnawing method characterized by comprising
Step 1, the speed of travel for presetting rigid supporting leg, soft supporting leg drives rigid supporting leg and soft supporting leg according to preset speed of travel row
Into；
Step 2, the practical travel distance of soft supporting leg and rigid supporting leg and the wheel rim at each supporting leg both ends and track are acquired in real time
Distance values；
Step 3, each traveling wheel is compared with the distance values of track with minimum allowable spacing respectively；
Step 4, according to comparison result and the direction of travel of crane, generate soft supporting leg control instruction be sent to it is described soft
Supporting leg travelling control frequency converter is to adjust the travel speed of soft supporting leg；
Step 5, judge whether the real-time distance values of each traveling wheel and track meet theoretical gap, then follow the steps 6 if meeting,
4 are returned to step if not meeting；
Step 6, two supporting leg deviation of stroke are calculated according to the practical travel distance of soft supporting leg and rigid supporting leg, it is inclined compares two supporting leg strokes
Whether difference is more than maximum allowable offset, if exiting this method not above if；If being more than to then follow the steps 7；
Step 7, the practical travel distance of more soft supporting leg and rigid supporting leg, according to the traveling side of comparison result and crane
To generating soft supporting leg control instruction and be sent to the soft supporting leg travelling control frequency converter to adjust the travel speed of soft supporting leg；
Step 8, two supporting leg deviation of stroke are calculated according to the practical travel distance of soft supporting leg and rigid supporting leg, it is inclined compares two supporting leg strokes
Whether difference is located within the scope of allowable deviation, returns to step 6 if beyond allowable deviation range, if being located at allowable deviation range
It is interior, then it continues to determine whether to terminate correction and prevents gnawing process, this method is exited if terminating, if not terminating to return to step
1。
5. according to claim 4 rectify a deviation and prevent gnawing method, it is characterised in that: soft supporting leg control instruction includes four controls
Switching value (D1, D2, D3, D4), wherein control switch amount D1 and control switch amount D2 is used to indicate the traveling side of crane
To the variation that control switch amount D3 and control switch amount D4 are used to indicate that ideal velocity value walks velocity amplitude relative to current line becomes
Gesture.
6. according to claim 5 rectify a deviation and prevent gnawing method, it is characterised in that: control switch amount D1 and control switch amount D2
There are (1,0) and (0,1) two kinds of combinations, wherein (1,0) for indicating that the direction of travel of crane is to move to left；(0,1) it is used for
The direction of travel for indicating crane is to move to right；
Control switch amount D3 and control switch amount D4 has (1,0), (0,1) and (1,1) three kinds of combinations, wherein (0,1) for indicating
Ideal velocity value is walked velocity amplitude relative to current line and is reduced；(1,0) for indicating ideal velocity value relative to the current speed of travel
It is worth constant；(1,1) increase for indicating that ideal velocity value walks velocity amplitude relative to current line.
7. correction according to claim 6 and anti-gnawing method, which is characterized in that step 4 includes:
Step 4.1, judge whether the spacing of rigid supporting leg front end traveling wheel and track is less than or equal to minimum allowable spacing, and soft simultaneously
Whether the spacing of supporting leg front end traveling wheel and track is greater than minimum allowable spacing, if so, thening follow the steps 4.2；Otherwise step is executed
Rapid 4.3；
Step 4.2, judge the direction of travel of crane, if the direction of travel of crane is to move to left, generate soft branch
Leg control instruction (1,0,1,1) is sent to the soft supporting leg travelling control frequency converter；Otherwise generate soft supporting leg control instruction (0,1,
0,1) it is sent to the soft supporting leg travelling control frequency converter；
Step 4.3, judge whether the spacing of soft supporting leg front end traveling wheel and track is less than or equal to minimum allowable spacing, while just branch
Whether the spacing of leg front end traveling wheel and track is greater than minimum allowable spacing, if so, thening follow the steps 4.4；It is no to then follow the steps
5；
Step 4.4, judge the direction of travel of crane, if the direction of travel of crane is to move to left, generate soft branch
Leg control instruction (1,0,0,1) is sent to the soft supporting leg travelling control frequency converter；Otherwise generate soft supporting leg control instruction (0,1,
1,1) it is sent to the soft supporting leg travelling control frequency converter.
8. according to claim 5 rectify a deviation and prevent gnawing method, it is characterised in that: the right endpoint for enabling track is stroke reference 1120
Point, the direction of travel according to each supporting leg relative to the distance change Trend judgement crane of stroke reference 1120 point, if each
Supporting leg becomes smaller relative to the distance of stroke reference 1120 point, then determines that the direction of travel of crane is to move to right；Otherwise determine lifting
The direction of travel of machine cart is to move to left.
9. correction according to claim 5 and anti-gnawing method, which is characterized in that step 5 includes:
Step 5.1, judge whether soft supporting leg control instruction is (0,1,0,1), (1,0,1,1), (0,1,0,1) or (1,0,1,1),
If (0,1,0,1) or (1,0,1,1), 5.2 are thened follow the steps；If (0,1,0,1) or (1,0,1,1), then follow the steps
5.3；
Step 5.2, if soft supporting leg control instruction be (0,1,0,1) or (1,0,1,1), then judge rigid supporting leg front end traveling wheel, just
Whether the spacing of supporting leg rear end traveling wheel, soft supporting leg rear end traveling wheel and track is more than or equal to theoretical gap, if just before supporting leg
The spacing of traveling wheel and track is held to be more than or equal to theoretical gap, while the just rear end traveling wheel of supporting leg or the rear end row of soft supporting leg
The spacing for walking wheel and track is more than or equal to theoretical gap, then continues to execute step 6,4.2 are returned to step if not meeting；
Step 5.3, if soft supporting leg control instruction is (0,1,1,1) or (1,0,0,1), then judge the rear end walking of rigid supporting leg
Whether the spacing of wheel, the front end traveling wheel of soft supporting leg, the rear end traveling wheel of soft supporting leg and track is more than or equal to theoretical gap, if soft
The front end traveling wheel of supporting leg and the spacing of track are more than or equal to theoretical gap, while the just rear end traveling wheel or soft supporting leg of supporting leg
Rear end traveling wheel and the spacing of track be more than or equal to theoretical gap, then continue to execute step 6, returned if not meeting and execute step
Rapid 4.4.
10. correction according to claim 5 and anti-gnawing method, which is characterized in that step 7 includes:
7.1, the practical travel distance of more soft supporting leg and rigid supporting leg, if the practical travel distance of steel leg is greater than the row of soft supporting leg
Distance is walked, thens follow the steps 7.2, it is no to then follow the steps 7.3；
7.2, judge the direction of travel of crane, if the direction of travel of crane is to move to left, generates soft supporting leg control
System instruction (1,0,1,1) is sent to the soft supporting leg travelling control frequency converter；Otherwise soft supporting leg control instruction (0,1,0,1) is generated
It is sent to the soft supporting leg travelling control frequency converter；
7.3, judge the direction of travel of crane, if the direction of travel of crane is to move to left, generates soft supporting leg control
System instruction (1,0,0,1) is sent to the soft supporting leg travelling control frequency converter；Otherwise soft supporting leg control instruction (0,1,1,1) is generated
It is sent to the soft supporting leg travelling control frequency converter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811069563.0A CN109019337B (en) | 2018-09-13 | 2018-09-13 | Device and method for correcting walking error and preventing gnawing rail of bridge crane and gantry crane |
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|---|---|---|---|
| CN201811069563.0A CN109019337B (en) | 2018-09-13 | 2018-09-13 | Device and method for correcting walking error and preventing gnawing rail of bridge crane and gantry crane |
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| CN109019337A true CN109019337A (en) | 2018-12-18 |
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| CN113788283A (en) * | 2021-08-20 | 2021-12-14 | 海南核电有限公司 | Method for adjusting deviation of cart of loading and unloading machine |
| CN115014693A (en) * | 2022-08-08 | 2022-09-06 | 中国航空工业集团公司沈阳空气动力研究所 | Wheel control method for large wind tunnel test section |
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