CN109019337B - Device and method for correcting walking error and preventing gnawing rail of bridge crane and gantry crane - Google Patents
Device and method for correcting walking error and preventing gnawing rail of bridge crane and gantry crane Download PDFInfo
- Publication number
- CN109019337B CN109019337B CN201811069563.0A CN201811069563A CN109019337B CN 109019337 B CN109019337 B CN 109019337B CN 201811069563 A CN201811069563 A CN 201811069563A CN 109019337 B CN109019337 B CN 109019337B
- Authority
- CN
- China
- Prior art keywords
- flexible
- leg
- distance
- walking
- supporting leg
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000035929 gnawing Effects 0.000 title claims abstract description 29
- 230000008569 process Effects 0.000 claims description 11
- 238000012937 correction Methods 0.000 claims description 7
- 230000002265 prevention Effects 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—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
Landscapes
- 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 invention provides a cart walking deviation rectifying and rail gnawing preventing device for a bridge crane and a portal crane, which comprises two groups of information acquisition devices, a rail deviation rectifying device and a rail deviation rectifying device, wherein the two groups of information acquisition devices are respectively used for measuring the actual walking distance of a flexible supporting leg and a rigid supporting leg of the crane and the distance value between a wheel rim at the two ends of each supporting leg and a rail; the main control unit is respectively connected with the two groups of information acquisition devices, and generates a flexible leg control instruction according to the actual walking distance of the flexible legs and the rigid legs and the distance value between the wheel rims at the two ends of each leg and the track; and the flexible supporting leg walking control frequency converter is connected with the main control unit and controls and adjusts the walking speed of the flexible supporting leg according to the flexible supporting leg control instruction. The invention also provides a deviation rectifying and rail gnawing preventing method, which can ensure that the walking deviation at two sides of the crane and the distance between the wheel rim and the rail are within an allowable range, avoid the rail gnawing phenomenon and have the advantages of scientific design, strong practicability, simple structure and accurate measurement.
Description
Technical Field
The invention relates to an automatic deviation rectifying device for a crane, in particular to a device and a method for rectifying deviation and preventing rail gnawing when a bridge crane and a portal crane travel.
Background
Bridge cranes and gantry cranes have been widely used in industrial production, and are the most widely used and numerous hoisting machines. Because the bridge and the portal crane have large span, low horizontal rigidity and many parts in the use process, the installation precision of the transmission mechanism is difficult to completely ensure, and the like, the phenomenon of deviation or rail gnawing of different degrees can occur when the bridge and the portal crane operate. The big car off tracking can cause very big harm to bridge, gantry crane, and it threatens the safe operation of hoist greatly, has increased the operation maintenance cost, seriously influences its production security and production efficiency. Therefore, the method has very important practical significance for deeply researching the deviation correction and the rail gnawing prevention control of the bridge crane and the portal crane.
At present, the existing deviation rectifying and rail gnawing preventing device of the bridge crane and the portal crane only rectifies and prevents the rail gnawing according to the walking deviation of two supporting legs, and the effect is not ideal sometimes. Because the phenomenon that the traveling deviation of the cart is small but the cart generates overall deviation perpendicular to the track often occurs, if the deviation amount is large, the rim of the traveling wheel on one side of the cart is likely to contact with the track to generate the rail gnawing phenomenon, but the judgment is normal according to the traveling deviation of the cart.
In order to solve the above problems, people are always seeking an ideal technical solution.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a device and a method for correcting the walking error and preventing the rail gnawing of a bridge crane and a portal crane cart, which have the advantages of scientific design, strong practicability, simple structure and accurate measurement.
In order to achieve the purpose, the invention adopts the technical scheme that: a device for correcting deviation and preventing gnawing rail for bridge and gantry crane cart walking comprises
The two groups of information acquisition devices are respectively used for measuring the actual walking distance of the flexible supporting leg and the rigid supporting leg of the crane and the distance value between the wheel rims at the two ends of each supporting leg and the track;
the main control unit is respectively connected with the two groups of information acquisition devices, and generates a flexible leg control instruction according to the actual walking distance of the flexible legs and the rigid legs and the distance value between the wheel rims at the two ends of each leg and the track; and
and the flexible supporting leg walking control frequency converter is connected with the main control unit and controls and adjusts the walking speed of the flexible supporting leg according to the flexible supporting leg control instruction.
Based on the above, information acquisition device includes a rotary encoder and two range finding sensors, rotary encoder is used for measuring the actual distance of walking of landing leg, two range finding sensors are used for measuring respectively wheel rim and orbital interval value around the landing leg.
Based on the above, two rotary encoder correspond and set up on the walking wheel of the same end of two landing legs, distance measuring sensor sets up respectively on wheel rim around every landing leg.
The invention also provides a deviation rectifying and gnawing preventing method based on the bridge and portal crane cart traveling deviation rectifying and rail gnawing preventing device, which comprises the following steps:
step 3, comparing the distance value between each walking wheel and the track with the minimum allowable distance;
step 4, generating a flexible support leg control command according to the comparison result and the traveling direction of the crane cart, and sending the flexible support leg control command to the flexible support leg traveling control frequency converter to adjust the traveling speed of the flexible support leg;
step 5, judging whether the real-time distance value between each traveling wheel and the track conforms to the theoretical clearance, if so, executing step 6, and if not, returning to execute step 4;
step 6, calculating the travel deviation of the two support legs according to the actual walking distance of the flexible support leg and the rigid support leg, comparing whether the travel deviation of the two support legs exceeds the maximum allowable deviation or not, and if not, exiting the method; if yes, executing step 7;
and 8, calculating the stroke deviation of the two support legs according to the actual walking distance of the flexible support leg and the rigid support leg, comparing whether the stroke deviation of the two support legs is within the allowable deviation range, if the stroke deviation of the two support legs is beyond the allowable deviation range, returning to the step 6, if the stroke deviation of the two support legs is within the allowable deviation range, continuously judging whether the deviation correction and gnawing prevention process is finished, if the deviation correction and gnawing prevention process is finished, exiting the method, and if the deviation correction and gnawing prevention process is not finished, returning.
Based on the above, the flexible leg control command comprises four control switching values (D1, D2, D3 and D4), wherein the control switching value D1 and the control switching value D2 are used for indicating the traveling direction of the crane cart, and the control switching value D3 and the control switching value D4 are used for indicating the change trend of the ideal speed value relative to the current walking speed value.
Based on the above, the control switching value D1 and the control switching value D2 have two combinations of (1, 0) and (0, 1), where (1, 0) is used to indicate that the traveling direction of the crane cart is left shift; (0, 1) indicating that the traveling direction of the crane cart is rightward movement;
the control switching value D3 and the control switching value D4 have three combinations of (1, 0), (0, 1) and (1, 1), wherein (0, 1) is used for indicating that the ideal speed value is reduced relative to the current traveling speed value; (1, 0) representing that the ideal speed value is unchanged relative to the current walking speed value; (1, 1) is used to indicate that the ideal speed value is increased relative to the current traveling speed value.
Based on the above, step 4 includes:
step 4.1, judging whether the distance between the travelling wheels at the front ends of the rigid supporting legs and the track is smaller than or equal to the minimum allowable distance, and meanwhile, whether the distance between the travelling wheels at the front ends of the flexible supporting legs and the track is larger than the minimum allowable distance, if so, executing the step 4.2; otherwise, executing step 4.3;
step 4.2, judging the traveling direction of the crane cart, and if the traveling direction of the crane cart is left movement, generating a flexible leg control instruction (1, 0,1, 1) and sending the flexible leg control instruction to the flexible leg traveling control frequency converter; otherwise, generating a flexible leg control instruction (0, 1,0, 1) and sending the flexible leg control instruction to the flexible leg walking control frequency converter;
4.3, judging whether the distance between the traveling wheels at the front ends of the flexible legs and the track is smaller than or equal to the minimum allowable distance, and whether the distance between the traveling wheels at the front ends of the rigid legs and the track is larger than the minimum allowable distance, if so, executing the step 4.4; otherwise, executing step 5;
step 4.4, judging the traveling direction of the crane cart, and if the traveling direction of the crane cart is left movement, generating a flexible leg control instruction (1, 0,0, 1) and sending the flexible leg control instruction to the flexible leg traveling control frequency converter; otherwise, generating a flexible leg control instruction (0, 1,1, 1) and sending the flexible leg control instruction to the flexible leg walking control frequency converter.
Based on the above, the right end point of the track is taken as a stroke reference point, the traveling direction of the crane cart is judged according to the distance variation trend of each supporting leg relative to the stroke reference point, and if the distance of each supporting leg relative to the stroke reference point is reduced, the traveling direction of the crane cart is judged to be moving to the right; otherwise, judging that the traveling direction of the crane cart is left movement.
Based on the above, step 5 includes:
step 5.1, judging whether the flexible leg control command is (0, 1,0, 1), (1, 0,1, 1), (0, 1, 1) or (1, 0,0, 1), and if so, (0, 1,0, 1) or (1, 0,1, 1), executing step 5.2; if the value is (0, 1,1, 1) or (1, 0,0, 1), executing step 5.3;
step 5.2, if the flexible supporting leg control instruction is (0, 1,0, 1) or (1, 0,1, 1), judging whether the distance between the front end travelling wheel of the rigid supporting leg, the rear end travelling wheel of the rigid supporting leg and the track is larger than or equal to the theoretical clearance, if the distance between the front end travelling wheel of the rigid supporting leg and the track is larger than or equal to the theoretical clearance, and meanwhile, the distance between the rear end travelling wheel of the rigid supporting leg or the rear end travelling wheel of the flexible supporting leg and the track is larger than or equal to the theoretical clearance, continuing to execute step 6, and if not, returning to execute step 4.2;
and 5.3, if the control instruction of the flexible supporting leg is (0, 1,1, 1) or (1, 0,0, 1), judging whether the distance between the rear-end travelling wheel of the rigid supporting leg, the front-end travelling wheel of the flexible supporting leg and the track is larger than or equal to the theoretical gap, if the distance between the front-end travelling wheel of the flexible supporting leg and the track is larger than or equal to the theoretical gap, and meanwhile, if the distance between the rear-end travelling wheel of the rigid supporting leg or the rear-end travelling wheel of the flexible supporting leg and the track is larger than or equal to the theoretical gap, continuing to execute the step 6, and if the distance is not equal to the theoretical gap, returning to execute.
Based on the above, step 7 includes:
7.1, comparing the actual walking distance of the flexible supporting leg with the actual walking distance of the rigid supporting leg, if the actual walking distance of the steel supporting leg is greater than the walking distance of the flexible supporting leg, executing the step 7.2, otherwise, executing the step 7.3;
7.2, judging the traveling direction of the crane cart, and if the traveling direction of the crane cart is left movement, generating a flexible leg control command (1, 0,1, 1) and sending the flexible leg control command to the flexible leg traveling control frequency converter; otherwise, generating a flexible leg control instruction (0, 1,0, 1) and sending the flexible leg control instruction to the flexible leg walking control frequency converter;
7.3, judging the traveling direction of the crane cart, and if the traveling direction of the crane cart is left movement, generating a flexible leg control command (1, 0,0, 1) and sending the flexible leg control command to the flexible leg traveling control frequency converter; otherwise, generating a flexible leg control instruction (0, 1,1, 1) and sending the flexible leg control instruction to the flexible leg walking control frequency converter.
Compared with the prior art, the invention has outstanding substantive characteristics and obvious progress, and particularly, the invention adopts two rotary encoders to measure the actual walking distance of two supporting legs of the crane, four distance measuring sensors to measure the distance between the rim of the walking wheel at two ends of each supporting leg and the track, and the main control unit controls the flexible branch walking speed according to the deviation value of the walking distance of the two supporting legs and four distance values, so that the walking deviation at two sides of the crane and the distance between the rim and the track can be ensured within an allowable range, and the rail gnawing phenomenon is avoided.
Drawings
FIG. 1 is a schematic diagram of the structure of the device of the present invention.
FIG. 2 is a schematic flow diagram of the process of the present invention.
In the figure, 1, a main control unit; 2. a flexible branch walking control frequency converter; 3. a rigid leg side rail; 4. a flexible leg side rail; 5. a traveling wheel at the front end of the rigid supporting leg; 6. a traveling wheel at the rear end of the rigid supporting leg; 7. a traveling wheel at the front end of the flexible leg; 8. a travelling wheel at the rear end of the flexible leg; 9. a rigid leg side rotary encoder; 10. 1# distance measuring sensor on the rigid leg side; 11. a rigid leg side 2# ranging sensor; 12. a flexible leg side rotary encoder; 13. flexible leg side 1# ranging sensor; 14. flexible leg side 2# ranging sensor.
Detailed Description
The technical solution of the present invention is further described in detail by the following embodiments.
As shown in fig. 1, the device for rectifying traveling deviation and preventing gnawing rail of bridge and gantry crane cart comprises two sets of information acquisition devices, a main control unit 1 and a flexible branch traveling control frequency converter 2.
The two groups of information acquisition devices are respectively used for measuring the actual walking distance of the flexible supporting leg and the rigid supporting leg of the crane and the distance value between the wheel rims at the two ends of each supporting leg and the track; specifically, the information acquisition device includes a rotary encoder and two range finding sensors, rotary encoder is used for measuring the actual distance of walking of landing leg, two range finding sensors are used for measuring respectively wheel rim and orbital interval value around the landing leg.
The main control unit 1 is respectively connected with the two groups of information acquisition devices, generates a flexible supporting leg control instruction according to the actual walking distance of the flexible supporting leg and the rigid supporting leg and the distance value between the wheel rims at the two ends of each supporting leg and the track, and sends the flexible supporting leg control instruction to the flexible branch walking control frequency converter 2; and the flexible support walking control frequency converter 2 controls and adjusts the walking speed of the flexible support leg according to the flexible support leg control instruction.
In practical use, the two rotary encoders are a rigid leg side rotary encoder 9 and a flexible leg side rotary encoder 12 respectively, and the rigid leg side rotary encoder 9 and the flexible leg side rotary encoder 12 are correspondingly arranged on the travelling wheels at the same ends of the two legs; preferably, in the present invention, the rigid leg side rotary encoder 9 is provided on the rigid leg front end traveling wheel 5, and rotates together with the rigid leg front end traveling wheel 5 (driven wheel) to measure the traveling distance of the rigid leg; the flexible leg side rotary encoder 12 is arranged on the flexible leg front end travelling wheel 7 and rotates along with the flexible leg front end travelling wheel 7 (driven wheel) to measure the travelling distance of the flexible leg; the main control unit 1 calculates the strokes of the two support legs according to the data of the two rotary encoders and obtains the stroke deviation value of the two support legs.
The four distance measuring sensors are a rigid leg side 1# distance measuring sensor 10, a rigid leg side 2# distance measuring sensor 11, a flexible leg side 1# distance measuring sensor 13 and a flexible leg side 2# distance measuring sensor 14 respectively; the rigid leg side 1# distance measuring sensor 10 and the rigid leg side 2# distance measuring sensor 12 are respectively fixed on the outer sides of the wheel boxes of the rigid leg front end travelling wheels 5 and the rear end travelling wheels 6 so as to measure the distance between the rigid leg front/rear end travelling wheels and the rigid leg side track 3; gentle landing leg side 1# range finding sensor 13 with gentle landing leg side 2# range finding sensor 14 is fixed respectively the wheel box outside of gentle landing leg front end walking wheel 7 and the wheel box outside of gentle landing leg rear end walking wheel 8 are in order to measure the spacing of gentle landing leg front/rear end walking wheel and gentle landing leg side track 4.
The main control unit determines a flexible leg control instruction according to the stroke deviation value of the two legs and the distance value measured by the four distance measuring sensors, and sends the flexible leg control instruction to the flexible leg walking control frequency converter 2 to control the walking speed of the flexible legs, so that the crane stops control when the walking deviation of the two sides and the distance between the wheel rim and the track are within an allowable range.
The invention also provides a deviation rectifying and gnawing preventing method based on the bridge and portal crane cart traveling deviation rectifying and rail gnawing preventing device, as shown in figure 2, the method comprises the following steps:
Specifically, the flexible leg control command comprises four control switching values (D1, D2, D3 and D4), wherein the control switching value D1 and the control switching value D2 are used for indicating the traveling direction of the crane cart, and the control switching value D3 and the control switching value D4 are used for indicating the change trend of the ideal speed value relative to the current walking speed value.
Preferably, the control switching value D1 and the control switching value D2 have two combinations of (1, 0) and (0, 1), wherein (1, 0) is used to indicate that the traveling direction of the crane cart is left shift; (0, 1) indicating that the traveling direction of the crane cart is rightward movement;
the control switching value D3 and the control switching value D4 have three combinations of (1, 0), (0, 1) and (1, 1), wherein (0, 1) is used for indicating that the ideal speed value is reduced relative to the current traveling speed value; (1, 0) representing that the ideal speed value is unchanged relative to the current walking speed value; (1, 1) is used to indicate that the ideal speed value is increased relative to the current traveling speed value.
And 2, acquiring the actual walking distance of the flexible supporting leg and the rigid supporting leg in real time and the distance value between the wheel rims at the two ends of each supporting leg and the track.
And 3, comparing the distance value between each walking wheel and the track with the minimum allowable distance.
The distance between the rigid-leg front-end road wheels 5 and the rigid-leg-side rail 3 is represented by d1, the distance between the rigid-leg rear-end road wheels 6 and the rigid-leg-side rail 3 is represented by d2, the distance between the flexible-leg front-end road wheels 7 and the flexible-leg-side rail 4 is represented by d3, and the distance between the flexible-leg rear-end road wheels 8 and the flexible-leg-side rail 4 is represented by d4, and theoretically, the wheel-rim gaps should be equal (i.e., d1= d2= d3= d 4), which is denoted as theoretical gap dE, and the minimum allowable distance is dL.
And 4, generating a flexible leg control command according to the comparison result and the traveling direction of the crane cart, and sending the flexible leg control command to the flexible branch traveling control frequency converter 2 to adjust the traveling speed of the flexible leg.
It should be noted that: the method for judging the traveling direction of the crane cart comprises the following steps: the right end points of the rigid leg side rail 3 and the flexible leg side rail 4 are taken as stroke reference points, the traveling direction of the crane cart is judged according to the distance variation trend of each leg relative to the stroke reference points, and if the distance of each leg relative to the stroke reference points is reduced, the traveling direction of the crane cart is judged to be right movement; otherwise, judging that the traveling direction of the crane cart is left movement.
Specifically, step 4 includes:
step 4.1, judging whether the distance d1 between the traveling wheels 5 at the front ends of the rigid support legs and the rails of the rigid support leg side rails 3 is less than or equal to the minimum allowable distance dL, and meanwhile, whether the distance d3 between the traveling wheels 7 at the front ends of the flexible support legs and the rails of the flexible support leg side rails 4 is greater than the minimum allowable distance dL, if so, executing the step 4.2; otherwise, executing step 4.3;
step 4.2, judging the traveling direction of the crane cart, and if the traveling direction of the crane cart is left movement, generating a flexible leg control instruction (1, 0,1, 1) and sending the flexible leg control instruction to the flexible leg traveling control frequency converter 2; otherwise, generating a flexible leg control instruction (0, 1,0, 1) and sending the flexible leg control instruction to the flexible branch walking control frequency converter 2;
step 4.3, judging whether the distance d3 between the front-end travelling wheels 7 of the flexible supporting legs and the side tracks 4 of the flexible supporting legs is less than or equal to the minimum allowable distance dL, and meanwhile, judging whether the distance d1 between the front-end travelling wheels 5 of the rigid supporting legs and the tracks 3 of the side tracks 3 of the rigid supporting legs is greater than the minimum allowable distance dL, if so, executing the step 4.4; otherwise, executing step 5;
step 4.4, judging the traveling direction of the crane cart, and if the traveling direction of the crane cart is left movement, generating a flexible leg control instruction (1, 0,0, 1) and sending the flexible leg control instruction to the flexible leg traveling control frequency converter 2; otherwise, a flexible leg control instruction (0, 1,1, 1) is generated and sent to the flexible branch walking control frequency converter 2.
And 5, judging whether the real-time distance value between each walking wheel and the track conforms to the theoretical clearance dE, if so, executing the step 6, and if not, returning to execute the step 4.
Specifically, step 5 includes:
step 5.1, judging whether the flexible leg control command is (0, 1,0, 1), (1, 0,1, 1), (0, 1, 1) or (1, 0,0, 1), and if so, (0, 1,0, 1) or (1, 0,1, 1), executing step 5.2; if the value is (0, 1,1, 1) or (1, 0,0, 1), executing step 5.3;
step 5.2, if the flexible leg control command is (0, 1,0, 1) or (1, 0,1, 1), judging whether the distances d1 and d2 between the rigid leg front end traveling wheels 5, the rigid leg rear end traveling wheels 6 and the rigid leg side rails 3 and the distance d4 between the flexible leg rear end traveling wheels 8 and the flexible leg side rails 4 are greater than or equal to the theoretical gap dE, if the distance d1 between the rigid leg front end traveling wheels 5 and the rigid leg side rails 3 is greater than or equal to the theoretical gap dE, and simultaneously the distance d2 between the rigid leg rear end traveling wheels and the rigid leg side rails 3 or the distance d4 between the flexible leg rear end traveling wheels and the flexible leg side rails 4 is greater than or equal to the theoretical gap dE, continuing to execute the step 6, and if the distance d4 is not equal to the theoretical gap dE, returning to execute the step 4.2;
and 5.3, if the flexible leg control command is (0, 1,1, 1) or (1, 0,0, 1), judging whether the distance d2 between the rigid leg rear end traveling wheel 6 and the rigid leg side rail 3 and the distances d3 and d4 between the flexible leg front end traveling wheel 7 and the flexible leg rear end traveling wheel 8 and the flexible leg side rail 4 are greater than or equal to the theoretical gap dE, if the distance d3 between the flexible leg front end traveling wheel 7 and the flexible leg side rail 4 is greater than or equal to the theoretical gap dE, and if the distance d2 between the rigid leg rear end traveling wheel 6 and the rigid leg side rail 3 or the distance d4 between the flexible leg rear end traveling wheel 8 and the flexible leg side rail 4 is greater than or equal to the theoretical gap dE, continuing to execute the step 6, and if the distance d4 does not correspond to the theoretical gap dE, returning to execute the step 4.4.
Step 6, calculating the travel deviation delta of the two support legs according to the actual walking distance L1 of the rigid support leg and the actual walking distance L2 of the flexible support leg, comparing whether the travel deviation of the two support legs exceeds the maximum allowable deviation delta H, and if not, exiting the method; if yes, go to step 7.
And 7, comparing the actual walking distance L1 of the rigid supporting leg with the actual walking distance L2 of the flexible supporting leg, generating a flexible supporting leg control command according to the comparison result and the traveling direction of the crane cart, and sending the flexible supporting leg control command to the flexible supporting leg traveling control frequency converter 2 to adjust the traveling speed of the flexible supporting leg.
Specifically, step 7 includes:
7.1, comparing the actual walking distance L1 of the rigid supporting leg with the actual walking distance L2 of the flexible supporting leg, if the actual walking distance L1 of the steel supporting leg is greater than the walking distance L2 of the flexible supporting leg, executing the step 7.2, otherwise, executing the step 7.3;
7.2, judging the traveling direction of the crane cart, and if the traveling direction of the crane cart is left movement, generating a flexible leg control command (1, 0,1, 1) and sending the flexible leg control command to the flexible leg traveling control frequency converter 2; otherwise, generating a flexible leg control instruction (0, 1,0, 1) and sending the flexible leg control instruction to the flexible branch walking control frequency converter 2;
7.3, judging the traveling direction of the crane cart, and if the traveling direction of the crane cart is left movement, generating a flexible leg control command (1, 0,0, 1) and sending the flexible leg control command to the flexible leg traveling control frequency converter 2; otherwise, a flexible leg control instruction (0, 1,1, 1) is generated and sent to the flexible branch walking control frequency converter 2.
And 8, calculating the stroke deviation of the two support legs according to the actual walking distance L1 of the rigid support leg and the actual walking distance L2 of the flexible support leg, comparing whether the stroke deviation of the two support legs is within an allowable deviation range delta L, returning to the step 6 if the stroke deviation exceeds the allowable deviation range delta L, continuously judging whether the deviation rectifying and anti-gnawing process is finished if the stroke deviation is within the allowable deviation range delta L, exiting the method if the deviation rectifying and anti-gnawing process is finished, and returning to the step 1 if the deviation rectifying and anti-gnawing process is not finished.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (7)
1. A deviation rectifying and anti-gnawing method for a bridge and portal crane cart walking deviation rectifying and anti-gnawing rail device is based on the bridge and portal crane cart walking deviation rectifying and anti-gnawing rail device, and the bridge and portal crane cart walking deviation rectifying and anti-gnawing rail device comprises
The two groups of information acquisition devices are respectively used for measuring the actual walking distance of the flexible supporting leg and the rigid supporting leg of the crane and the distance value between the wheel rims at the two ends of each supporting leg and the track;
the main control unit is respectively connected with the two groups of information acquisition devices, and generates a flexible leg control instruction according to the actual walking distance of the flexible legs and the rigid legs and the distance value between the wheel rims at the two ends of each leg and the track; and
the flexible support leg walking control frequency converter is connected with the main control unit and controls and adjusts the walking speed of the flexible support leg according to the flexible support leg control instruction;
it is characterized by comprising:
step 1, presetting the walking speeds of a rigid supporting leg and a flexible supporting leg, and driving the rigid supporting leg and the flexible supporting leg to move according to the preset walking speeds;
step 2, acquiring the actual walking distance of the flexible supporting legs and the rigid supporting legs and the distance value between the wheel rims at the two ends of each supporting leg and the track in real time;
step 3, comparing the distance value between each walking wheel and the track with the minimum allowable distance;
step 4, generating a flexible support leg control command according to the comparison result and the traveling direction of the crane cart, and sending the flexible support leg control command to the flexible support leg traveling control frequency converter to adjust the traveling speed of the flexible support leg;
step 5, judging whether the real-time distance value between each traveling wheel and the track conforms to the theoretical clearance, if so, executing step 6, and if not, returning to execute step 4;
step 6, calculating the travel deviation of the two support legs according to the actual walking distance of the flexible support leg and the rigid support leg, comparing whether the travel deviation of the two support legs exceeds the maximum allowable deviation or not, and if not, exiting the method; if yes, executing step 7;
step 7, comparing the actual walking distances of the flexible support legs and the rigid support legs, generating a flexible support leg control command according to the comparison result and the advancing direction of the crane cart, and sending the flexible support leg control command to the flexible support leg walking control frequency converter to adjust the advancing speed of the flexible support legs;
and 8, calculating the stroke deviation of the two support legs according to the actual walking distance of the flexible support leg and the rigid support leg, comparing whether the stroke deviation of the two support legs is within the allowable deviation range, if the stroke deviation of the two support legs is beyond the allowable deviation range, returning to the step 6, if the stroke deviation of the two support legs is within the allowable deviation range, continuously judging whether the deviation correction and gnawing prevention process is finished, if the deviation correction and gnawing prevention process is finished, exiting the method, and if the deviation correction and gnawing prevention process is not finished, returning.
2. The method of rectifying and preventing gnawing according to claim 1, characterized in that: the flexible leg control command comprises four control switching values (D1, D2, D3 and D4), wherein the control switching value D1 and the control switching value D2 are used for indicating the traveling direction of the crane cart, and the control switching value D3 and the control switching value D4 are used for indicating the change trend of the ideal speed value relative to the current walking speed value.
3. The method of rectifying and preventing gnawing according to claim 2, characterized in that: the control switching value D1 and the control switching value D2 have two combinations of (1, 0) and (0, 1), wherein (1, 0) is used for indicating that the traveling direction of the crane cart is left movement; (0, 1) indicating that the traveling direction of the crane cart is rightward movement;
the control switching value D3 and the control switching value D4 have three combinations of (1, 0), (0, 1) and (1, 1), wherein (0, 1) is used for indicating that the ideal speed value is reduced relative to the current traveling speed value; (1, 0) representing that the ideal speed value is unchanged relative to the current walking speed value; (1, 1) is used to indicate that the ideal speed value is increased relative to the current traveling speed value.
4. The method for rectifying and preventing gnawing according to claim 3, wherein the step 4 comprises:
step 4.1, judging whether the distance between the travelling wheels at the front ends of the rigid supporting legs and the track is smaller than or equal to the minimum allowable distance, and meanwhile, whether the distance between the travelling wheels at the front ends of the flexible supporting legs and the track is larger than the minimum allowable distance, if so, executing the step 4.2; otherwise, executing step 4.3;
step 4.2, judging the traveling direction of the crane cart, and if the traveling direction of the crane cart is left movement, generating a flexible leg control instruction (1, 0,1, 1) and sending the flexible leg control instruction to the flexible leg traveling control frequency converter; otherwise, generating a flexible leg control instruction (0, 1,0, 1) and sending the flexible leg control instruction to the flexible leg walking control frequency converter;
4.3, judging whether the distance between the traveling wheels at the front ends of the flexible legs and the track is smaller than or equal to the minimum allowable distance, and whether the distance between the traveling wheels at the front ends of the rigid legs and the track is larger than the minimum allowable distance, if so, executing the step 4.4; otherwise, executing step 5;
step 4.4, judging the traveling direction of the crane cart, and if the traveling direction of the crane cart is left movement, generating a flexible leg control instruction (1, 0,0, 1) and sending the flexible leg control instruction to the flexible leg traveling control frequency converter; otherwise, generating a flexible leg control instruction (0, 1,1, 1) and sending the flexible leg control instruction to the flexible leg walking control frequency converter.
5. The method of rectifying and preventing gnawing according to claim 2, characterized in that: the right end point of the track is used as a stroke reference point, the traveling direction of the crane cart is judged according to the distance variation trend of each supporting leg relative to the stroke reference point, and if the distance of each supporting leg relative to the stroke reference point is reduced, the traveling direction of the crane cart is judged to be rightward movement; otherwise, judging that the traveling direction of the crane cart is left movement.
6. The method of claim 2, wherein step 5 comprises:
step 5.1, judging whether the flexible leg control command is (0, 1,0, 1), (1, 0,1, 1), (0, 1, 1) or (1, 0,0, 1), and if so, (0, 1,0, 1) or (1, 0,1, 1), executing step 5.2; if the value is (0, 1,1, 1) or (1, 0,0, 1), executing step 5.3;
step 5.2, if the flexible supporting leg control instruction is (0, 1,0, 1) or (1, 0,1, 1), judging whether the distance between the front end travelling wheel of the rigid supporting leg, the rear end travelling wheel of the rigid supporting leg and the track is larger than or equal to the theoretical clearance, if the distance between the front end travelling wheel of the rigid supporting leg and the track is larger than or equal to the theoretical clearance, and meanwhile, the distance between the rear end travelling wheel of the rigid supporting leg or the rear end travelling wheel of the flexible supporting leg and the track is larger than or equal to the theoretical clearance, continuing to execute step 6, and if not, returning to execute step 4.2;
and 5.3, if the control instruction of the flexible supporting leg is (0, 1,1, 1) or (1, 0,0, 1), judging whether the distance between the rear-end travelling wheel of the rigid supporting leg, the front-end travelling wheel of the flexible supporting leg and the track is larger than or equal to the theoretical gap, if the distance between the front-end travelling wheel of the flexible supporting leg and the track is larger than or equal to the theoretical gap, and meanwhile, if the distance between the rear-end travelling wheel of the rigid supporting leg or the rear-end travelling wheel of the flexible supporting leg and the track is larger than or equal to the theoretical gap, continuing to execute the step 6, and if the distance is not equal to the theoretical gap, returning to execute.
7. The method of deskewing and anti-gnawing according to claim 2, wherein step 7 comprises:
7.1, comparing the actual walking distance of the flexible supporting leg with the actual walking distance of the rigid supporting leg, if the actual walking distance of the steel supporting leg is greater than the walking distance of the flexible supporting leg, executing the step 7.2, otherwise, executing the step 7.3;
7.2, judging the traveling direction of the crane cart, and if the traveling direction of the crane cart is left movement, generating a flexible leg control command (1, 0,1, 1) and sending the flexible leg control command to the flexible leg traveling control frequency converter; otherwise, generating a flexible leg control instruction (0, 1,0, 1) and sending the flexible leg control instruction to the flexible leg walking control frequency converter;
7.3, judging the traveling direction of the crane cart, and if the traveling direction of the crane cart is left movement, generating a flexible leg control command (1, 0,0, 1) and sending the flexible leg control command to the flexible leg traveling control frequency converter; otherwise, generating a flexible leg control instruction (0, 1,1, 1) and sending the flexible leg control instruction to the flexible leg walking control frequency converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109019337A CN109019337A (en) | 2018-12-18 |
| CN109019337B true CN109019337B (en) | 2020-06-19 |
Family
ID=64622267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811069563.0A Expired - Fee Related 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109019337B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111962927B (en) * | 2020-06-30 | 2022-10-14 | 济南轨道交通集团有限公司 | Intelligent control system and method for mobile work shed |
| CN112320585B (en) * | 2020-10-28 | 2023-06-20 | 湖南天桥嘉成智能科技有限公司 | Track deviation correcting device and method for large-span unmanned crane |
| CN113788283B (en) * | 2021-08-20 | 2022-11-22 | 海南核电有限公司 | Method for adjusting deviation of cart of material loading and unloading machine |
| CN115014693B (en) * | 2022-08-08 | 2022-11-01 | 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD278569A1 (en) * | 1988-12-27 | 1990-05-09 | Univ Magdeburg Tech | STRAIGHT RUNNING DEVICE FOR RAIL VEHICLES |
| WO2012133205A1 (en) * | 2011-03-25 | 2012-10-04 | 三井造船株式会社 | Crane |
| CN203699687U (en) * | 2014-01-22 | 2014-07-09 | 河南世通电气自动化控制有限公司 | Device for preventing rail gnawing and correcting synchronously for big wheeled crane |
| CN104803291A (en) * | 2014-01-23 | 2015-07-29 | 象王重工股份有限公司 | Intelligent crane control system |
| CN204714371U (en) * | 2015-06-02 | 2015-10-21 | 华电郑州机械设计研究院有限公司 | Synchronous and the dual deviation-rectifying system of displacement of the gate-type reclaimer speed of travel |
| CN207671567U (en) * | 2017-12-22 | 2018-07-31 | 河南省大方重型机器有限公司 | A kind of Automatic correction device for crane |
-
2018
- 2018-09-13 CN CN201811069563.0A patent/CN109019337B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD278569A1 (en) * | 1988-12-27 | 1990-05-09 | Univ Magdeburg Tech | STRAIGHT RUNNING DEVICE FOR RAIL VEHICLES |
| WO2012133205A1 (en) * | 2011-03-25 | 2012-10-04 | 三井造船株式会社 | Crane |
| CN203699687U (en) * | 2014-01-22 | 2014-07-09 | 河南世通电气自动化控制有限公司 | Device for preventing rail gnawing and correcting synchronously for big wheeled crane |
| CN104803291A (en) * | 2014-01-23 | 2015-07-29 | 象王重工股份有限公司 | Intelligent crane control system |
| CN204714371U (en) * | 2015-06-02 | 2015-10-21 | 华电郑州机械设计研究院有限公司 | Synchronous and the dual deviation-rectifying system of displacement of the gate-type reclaimer speed of travel |
| CN207671567U (en) * | 2017-12-22 | 2018-07-31 | 河南省大方重型机器有限公司 | A kind of Automatic correction device for crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109019337A (en) | 2018-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109019337B (en) | Device and method for correcting walking error and preventing gnawing rail of bridge crane and gantry crane | |
| RU2666043C1 (en) | Railway wheels flange wear measuring method | |
| CN104374335A (en) | Rail vehicle limit detection system | |
| CN104692245B (en) | A kind of door machine traveling system for automatically correcting and method | |
| CN203699687U (en) | Device for preventing rail gnawing and correcting synchronously for big wheeled crane | |
| CN105501863A (en) | Monorail logistics trolley based on greenhouse interior accurate positioning and control method thereof | |
| CN201367306Y (en) | Automatic correction control system for long-span programme-controlled travelling crane with accurate positioning function | |
| CN105277129A (en) | Dynamic noncontact rail gauge measuring system and method thereof | |
| CN204778406U (en) | Controlling means that rectifies is taken turns in walking | |
| CN212403239U (en) | Automatic positioning device of aluminum electrolysis multifunctional unit | |
| CN208856801U (en) | Bridge crane deviation correcting device and bridge crane | |
| CN203637861U (en) | Traveling crane laser deviation rectifying device | |
| CN202643112U (en) | Detection deflection-correction control device for eliminating beam type crane gnawing track | |
| CN112125158A (en) | Walking positioning method of trolley type single-beam crane | |
| CN110221609B (en) | Track deviation rectifying method based on two-dimensional code | |
| CN111367293A (en) | Underground logistics cabin positioning device and method | |
| CN208071141U (en) | The electric-control system of annular bending track double girder overhead crane | |
| CN205170203U (en) | Trolley operation deviation correcting device suitable for container hoisting structure | |
| CN216052745U (en) | Portable automatic cruise rail inspection trolley control system | |
| CN204342290U (en) | A kind of hoisting crane multi-shaft synchronous control system | |
| JP2000351414A (en) | Position detecting device | |
| CN212605169U (en) | Track gauge measuring device based on laser | |
| CN213921029U (en) | Automatic deviation correcting device for rail transfer platform | |
| CN110642145B (en) | Method for preventing casting crane from gnawing rail | |
| CN109231011B (en) | Crane operation mechanism positioning device and method based on two-dimensional code |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200619 |