CN109368501A - A kind of crane control system based on nine axle sensors - Google Patents
A kind of crane control system based on nine axle sensors Download PDFInfo
- Publication number
- CN109368501A CN109368501A CN201811508278.4A CN201811508278A CN109368501A CN 109368501 A CN109368501 A CN 109368501A CN 201811508278 A CN201811508278 A CN 201811508278A CN 109368501 A CN109368501 A CN 109368501A
- Authority
- CN
- China
- Prior art keywords
- girder
- drive cylinder
- end beam
- control system
- traveling wheel
- 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.)
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- 239000000725 suspension Substances 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 description 6
- 238000012937 correction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/04—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports with lifting beams, e.g. slewable beams, carrying load-engaging elements, e.g. magnets, hooks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C6/00—Girders, or track-supporting structures, specially adapted for cranes
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 discloses a kind of crane control systems based on nine axle sensors, the crane has girder 1, trolley 2 is set on girder 1, the suspension hook 3 being suspended below trolley, the left end beam 4 of 1 left end of girder is set, the left traveling wheel 5 and left driving mechanism 6 for supporting left end beam 4 to walk, the right end beam 7 of the right end of girder 1 is set, the right traveling wheel 8 and right driving mechanism 9 that supports right end carriage 7 is walked, the left end of the girder 1 is provided with the one or nine axle sensor, the right end of girder 1 is provided with the two or nine axle sensor, the left end beam 4 and the structure having the same of right end beam 7.The present invention solves the problems, such as that multi-machine system long-play bring due to mechanical wear etc. is asynchronous.
Description
Technical field
The present invention relates to crane fields, and in particular to a kind of crane control system based on nine axle sensors.
Background technique
Crane refers to more movement hoisting machineries of vertical-lift in a certain range and horizontal carrying heavy goods, belongs to material
Handling machinery, the work characteristics of crane are to do intermittent exercise, i.e., feeding, migration and unloading etc. are dynamic in a working cycles
The corresponding mechanism of work is to work alternatively, and crane develops in the market and using more and more extensive.
Currently, seldom carry out the operation of real-time detection crane in conjunction with sensor in the control method of domestic bridge crane
In the process, crane girder is displaced the information such as acceleration, speed and angular speed of left and right end carriage to judge cart in more motor bands
Whether Zuo You amount of movement reaches balance to dynamic operational process, so that the mobile progress of crane more motor speed corrections in real time.
Prevention sends and gnaws rail phenomenon, solves after crane is run for a long time since mechanical mechanism wears bring multi- drive synchronization, wheel
Run nonsynchronous problem.
Summary of the invention
The present invention to solve the above-mentioned problems, provides a kind of crane control system based on nine axle sensors.
The present invention is specifically implemented with the following technical solutions,
A kind of crane control system based on nine axle sensors, the crane have girder 1, trolley are arranged on girder 1
2, it is suspended on 5 and of left traveling wheel that the suspension hook 3 below trolley, the left end beam 4 that 1 left end of girder is arranged in, support left end beam 4 are walked
Left driving mechanism 6, the right end beam 7 of right end that girder 1 is set, the right traveling wheel 8 of the walking of supports right end carriage 7 and right driving mechanism
9, the left end of the girder 1 is provided with the one or nine axle sensor, and the right end of girder 1 is provided with the two or nine axle sensor, described
Left end beam 4 and the structure having the same of right end beam 7, the left end beam 4 have support plate 4.1 and adjustable plate 4.2, the support plate
4.1 middle part is fixed with support column 4.3, and the support column 4.3 is connected to the middle part of adjustable plate 4.2 by hinged seat 4.4,
The left side of the support column 4.3 is provided with left drive cylinder 4.5, the end hinge of the piston rod of the left drive cylinder 4.5
It is connected to left slider 4.6, the left slider 4.6 can slide in the left sliding slot 4.7 of 4.2 downside of adjustable plate,
The right side of the support column 4.3 is provided with right drive cylinder 4.8, the end hinge of the piston rod of the right drive cylinder 4.8
It is connected to right sliding block 4.9, the right sliding block 4.9 can slide in the right rail 4.10 of 4.2 downside of adjustable plate,
The lower section of the support plate 4.1 is provided with traveling wheel 4.11.
Further, the left drive cylinder 4.5 is symmetrical arranged with right drive cylinder 4.8 relative to support column 4.3.
Further, there are two the settings of left drive cylinder 4.5, the right drive cylinder 4.8 is also correspondingly arranged on two
It is a.
During the present invention can be by bridge crane transport container, real-time perfoming crane girder operational process
The information collection of middle left and right end carriage；The working condition of the more motors of real time correction is utilized the information to, so that the operation of crane reaches
It is synchronized to better, solves the problems, such as that multi-machine system long-play bring due to mechanical wear etc. is asynchronous.Therefore
There is very important theory significance and extremely broad application prospect to the research of the safe and efficient handling of bridge crane.
Detailed description of the invention
Fig. 1 crane structure schematic diagram of the present invention；
Fig. 2 left end beam of the present invention and left lateral walk mechanism structure schematic diagram；
Figure middle girder 1, trolley 2, suspension hook 3, left end beam 4, left traveling wheel 5, left driving mechanism 6, right end beam 7, right traveling wheel 8, the right side
Driving mechanism 9, support plate 4.1, adjustable plate 4.2, support column 4.3, hinged seat 4.4, left drive cylinder 4.5, left slider 4.6, a left side
Sliding slot 4.7, right drive cylinder 4.8, right sliding block 4.9, right rail 4.10, traveling wheel 4.11.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figs. 1-2, a kind of crane control system based on nine axle sensors, the crane have girder 1, set
Set the trolley 2 on girder 1, the suspension hook 3 being suspended below trolley, the left end beam 4 that 1 left end of girder is set, support 4 row of left end beam
The left traveling wheel 5 and left driving mechanism 6 walked, the right end beam 7 of right end, the right lateral of the walking of supports right end carriage 7 that girder 1 is arranged in are walked
Wheel 8 and right driving mechanism 9, the left end of the girder 1 are provided with the one or nine axle sensor, and the right end of girder 1 is provided with second
Nine axle sensors, the left end beam 4 and the structure having the same of right end beam 7, the left end beam 4 have support plate 4.1 and adjust
Plate 4.2, the middle part of the support plate 4.1 are fixed with support column 4.3, and the support column 4.3 is connected to adjusting by hinged seat 4.4
The middle part of plate 4.2,
The left side of the support column 4.3 is provided with left drive cylinder 4.5, the end hinge of the piston rod of the left drive cylinder 4.5
It is connected to left slider 4.6, the left slider 4.6 can slide in the left sliding slot 4.7 of 4.2 downside of adjustable plate,
The right side of the support column 4.3 is provided with right drive cylinder 4.8, the end hinge of the piston rod of the right drive cylinder 4.8
It is connected to right sliding block 4.9, the right sliding block 4.9 can slide in the right rail 4.10 of 4.2 downside of adjustable plate,
The lower section of the support plate 4.1 is provided with traveling wheel 4.11.
The left drive cylinder 4.5 is symmetrical arranged with right drive cylinder 4.8 relative to support column 4.3.
There are two the left drive cylinder 4.5 settings, there are two the right drive cylinder 4.8 is also correspondingly arranged.
The control system also has controller, and the controller is according to the one or nine axle sensor and the two or nine axle sensor
The data of acquisition control left traveling wheel 5, left driving mechanism 6 and right traveling wheel 8, right driving mechanism 9.
During the present invention can be by bridge crane transport container, real-time perfoming crane girder operational process
The information collection of middle left and right end carriage；The working condition of the more motors of real time correction is utilized the information to, so that the operation of crane reaches
It is synchronized to better, solves the problems, such as that multi-machine system long-play bring due to mechanical wear etc. is asynchronous.Therefore
There is very important theory significance and extremely broad application prospect to the research of the safe and efficient handling of bridge crane.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.
Claims (4)
1. a kind of crane control system based on nine axle sensors, the crane has girder 1, setting small on girder 1
The left traveling wheel 5 that vehicle 2, the suspension hook 3 being suspended below trolley, the left end beam 4 that 1 left end of girder is arranged in, support left end beam 4 are walked
The right traveling wheel 8 walked with left driving mechanism 6, the right end beam 7 for the right end that girder 1 is arranged in, supports right end carriage 7 and right driving machine
Structure 9, it is characterised in that: the left end of the girder 1 is provided with the one or nine axle sensor, and the right end of girder 1 is provided with the two or nine
Axle sensor, the left end beam 4 and the structure having the same of right end beam 7, the left end beam 4 have support plate 4.1 and adjustable plate
4.2, the middle part of the support plate 4.1 is fixed with support column 4.3, and the support column 4.3 is connected to adjustable plate by hinged seat 4.4
4.2 middle part,
The left side of the support column 4.3 is provided with left drive cylinder 4.5, the end hinge of the piston rod of the left drive cylinder 4.5
It is connected to left slider 4.6, the left slider 4.6 can slide in the left sliding slot 4.7 of 4.2 downside of adjustable plate,
The right side of the support column 4.3 is provided with right drive cylinder 4.8, the end hinge of the piston rod of the right drive cylinder 4.8
It is connected to right sliding block 4.9, the right sliding block 4.9 can slide in the right rail 4.10 of 4.2 downside of adjustable plate,
The lower section of the support plate 4.1 is provided with traveling wheel 4.11.
2. a kind of crane control system based on nine axle sensors as described in claim 1, it is characterised in that: the left drive
Dynamic oil cylinder 4.5 is symmetrical arranged with right drive cylinder 4.8 relative to support column 4.3.
3. a kind of crane control system based on nine axle sensors as described in claim 1, it is characterised in that: the left drive
There are two the dynamic settings of oil cylinder 4.5, there are two the right drive cylinder 4.8 is also correspondingly arranged.
4. a kind of crane control system based on nine axle sensors as described in claim 1, it is characterised in that: the control
System also has controller, and the controller controls left according to the data that the one or nine axle sensor and the two or nine axle sensor acquire
Traveling wheel 5, left driving mechanism 6 and right traveling wheel 8, right driving mechanism 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811508278.4A CN109368501B (en) | 2018-12-11 | 2018-12-11 | Crane control system based on nine sensors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811508278.4A CN109368501B (en) | 2018-12-11 | 2018-12-11 | Crane control system based on nine sensors |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109368501A true CN109368501A (en) | 2019-02-22 |
| CN109368501B CN109368501B (en) | 2020-09-08 |
Family
ID=65372990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811508278.4A Active CN109368501B (en) | 2018-12-11 | 2018-12-11 | Crane control system based on nine sensors |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109368501B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201240764Y (en) * | 2008-07-11 | 2009-05-20 | 天津起重设备有限公司 | Structure for connecting trolley and end beam of large-sized crane |
| CN201458553U (en) * | 2009-06-11 | 2010-05-12 | 洛阳卡瑞起重设备有限公司 | Balance dolly device for hoist double girder crane |
| CN202131024U (en) * | 2011-06-17 | 2012-02-01 | 常州常矿起重机械有限公司 | Long-distance numerical control bridge crane |
| CN202429915U (en) * | 2012-01-19 | 2012-09-12 | 胡相兰 | Large-tonnage lifting hook overhead crane |
| US20120239331A1 (en) * | 2011-03-16 | 2012-09-20 | Honeywell International Inc. | Crane jib attitude and heading reference system and method |
| CN103723626A (en) * | 2013-12-20 | 2014-04-16 | 三一集团有限公司 | Crane travel mechanism and transporter crane |
| CN104876127A (en) * | 2015-05-29 | 2015-09-02 | 上海简奇数码科技有限公司 | Device and method for monitoring running position and posture of big and small bridge and door type cranes |
| CN205772977U (en) * | 2016-05-30 | 2016-12-07 | 中煤建筑安装工程集团有限公司 | Tower crane real-time monitoring system |
-
2018
- 2018-12-11 CN CN201811508278.4A patent/CN109368501B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201240764Y (en) * | 2008-07-11 | 2009-05-20 | 天津起重设备有限公司 | Structure for connecting trolley and end beam of large-sized crane |
| CN201458553U (en) * | 2009-06-11 | 2010-05-12 | 洛阳卡瑞起重设备有限公司 | Balance dolly device for hoist double girder crane |
| US20120239331A1 (en) * | 2011-03-16 | 2012-09-20 | Honeywell International Inc. | Crane jib attitude and heading reference system and method |
| CN202131024U (en) * | 2011-06-17 | 2012-02-01 | 常州常矿起重机械有限公司 | Long-distance numerical control bridge crane |
| CN202429915U (en) * | 2012-01-19 | 2012-09-12 | 胡相兰 | Large-tonnage lifting hook overhead crane |
| CN103723626A (en) * | 2013-12-20 | 2014-04-16 | 三一集团有限公司 | Crane travel mechanism and transporter crane |
| CN104876127A (en) * | 2015-05-29 | 2015-09-02 | 上海简奇数码科技有限公司 | Device and method for monitoring running position and posture of big and small bridge and door type cranes |
| CN205772977U (en) * | 2016-05-30 | 2016-12-07 | 中煤建筑安装工程集团有限公司 | Tower crane real-time monitoring system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109368501B (en) | 2020-09-08 |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Qinghui Inventor after: Lin Qiping Inventor after: Zeng Wei Inventor after: Wen Falin Inventor after: Wang Ying Inventor before: Wang Qinghui Inventor before: Zeng Wei Inventor before: Wen Falin Inventor before: Lin Qiping Inventor before: Wang Ying |
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| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190222 Assignee: LONGHE INTELLIGENT EQUIPMENT MANUFACTURING Co.,Ltd. Assignor: LONGYAN University Contract record no.: X2023350000387 Denomination of invention: A Crane Control System Based on Nine Axis Sensors Granted publication date: 20200908 License type: Common License Record date: 20231018 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190222 Assignee: Fujian bafangyuan Construction Co.,Ltd. Assignor: LONGYAN University Contract record no.: X2023350000423 Denomination of invention: A Crane Control System Based on Nine Axis Sensors Granted publication date: 20200908 License type: Common License Record date: 20231108 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190222 Assignee: FUJIAN YISONG MACHINERY CO.,LTD. Assignor: LONGYAN University Contract record no.: X2023980049428 Denomination of invention: A Crane Control System Based on Nine Axis Sensors Granted publication date: 20200908 License type: Common License Record date: 20231208 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190222 Assignee: FUJIAN YIZUAN MACHINERY CO.,LTD. Assignor: LONGYAN University Contract record no.: X2023980050147 Denomination of invention: A Crane Control System Based on Nine Axis Sensors Granted publication date: 20200908 License type: Common License Record date: 20231218 |
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| EE01 | Entry into force of recordation of patent licensing contract |