CN109775564A - A kind of hoisting trolley of crane - Google Patents
A kind of hoisting trolley of crane Download PDFInfo
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- CN109775564A CN109775564A CN201910248696.2A CN201910248696A CN109775564A CN 109775564 A CN109775564 A CN 109775564A CN 201910248696 A CN201910248696 A CN 201910248696A CN 109775564 A CN109775564 A CN 109775564A
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 61
- 239000010959 steel Substances 0.000 claims abstract description 61
- 238000000034 method Methods 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 238000005070 sampling Methods 0.000 claims description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 238000013528 artificial neural network Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 9
- 230000009977 dual effect Effects 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 239000000725 suspension Substances 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 7
- 238000004804 winding Methods 0.000 description 7
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003062 neural network model Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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Abstract
The invention discloses a kind of hoisting trolleys of crane, comprising: bracket is provided with crossbeam and stringer；Two sliding supports, bottom are slidably disposed between the stringer, and the sliding support is parallel to the crossbeam setting；Shaft, is rotatably arranged at the top of the sliding support, and the length of the shaft can be adjusted；Two arch sleeve racks are respectively sleeved at the both ends of the shaft, wind steel cable on the sleeve rack；Driving mechanism, setting drive the shaft to rotate in the shaft side.The present invention provides a kind of hoisting trolleys of crane, are rotated using a driving mechanism drive shaft, and setting may be implemented two suspension centres while going up and down, the hanged of big workpiece may be implemented there are two the sleeve rack being spaced in shaft；And the distance that two suspension centres can also be adjusted according to specific workpiece shapes and size, guarantees the stability of lifting process, and workpiece is enabled steadily up and down, to realize efficiently lifting.
Description
Technical field
The present invention relates to lifting equipment more particularly to a kind of hoisting trolleys of crane.
Background technique
Hoist engine, with reel winding wire ropes or chain lifting or the light and small heavy-duty hoisting equipment of traction, also known as winch,
Hoist engine can with vertical-lift, horizontally or diagonally drag and draw weight, hoist engine is divided into manual hoist and two kinds of electrical hoist, existing
It based on electrical hoist, can be used alone, lifting can also be made, built the road and the building block in the machinery such as mine hoisting, because
It is easy to operate, wiring amount is big, dislocation is convenient and is widely applied, mainly apply to building, hydraulic engineering, forestry, mine, harbour etc.
Material lifting or flat drag；In the prior art, it is often necessary to lifting operation be carried out to workpiece using winding plant.Winding plant is
Make suspender with cable wire or wire rope pulley group to be connected with workpiece, by gear train assembly make winding drum around, put cable wire to band
The machinery of dynamic lifting.Existing winding plant is mostly the single hoisting system of single driving, and acting on and being hung workpiece is single suspension centre, for
Two such winding plants are needed to configure for certain big workpiece can just meet the requirements, this undoubtedly increases cost.And it is existing
More suspension centres winding plant it is also mostly be that two driving mechanisms drive two steel cables liftings, and position is relatively fixed, Wu Fagen
It is adjusted according to specific construction requirement, and needs two drivings simultaneously, it is not only at high cost, but also it is difficult to control synchronization lifting.
Summary of the invention
The present invention is to solve current technology shortcoming, provides a kind of hoisting trolley of crane, may be implemented two
A suspension centre is gone up and down simultaneously, and the distance of two suspension centres can be adjusted according to specific workpiece, realizes efficiently lifting.
The present invention also provides a kind of control methods of the hoisting trolley of crane, can be according to the specific feelings in the course of work
Condition adjusts the revolving speed of motor, guarantees efficient, the even running of hoisting trolley.
A kind of technical solution provided by the invention are as follows: hoisting trolley of crane, comprising:
Bracket is provided with crossbeam and stringer；
Two sliding supports, bottom are slidably disposed between the stringer, and the sliding support is parallel to described
Crossbeam setting；
Shaft, is rotatably arranged at the top of the sliding support, and the length of the shaft can be adjusted；
Two arch sleeve racks are respectively sleeved at the both ends of the shaft, wind steel cable on the sleeve rack；
Driving mechanism, setting drive the shaft to rotate in the shaft side；
Motor is controlled, on the bracket, output end connects the sliding support for setting.
Preferably,
Groove is oppositely arranged on the inside of the stringer；
The sliding support two sides of the bottom setting protrusion；Also,
The protrusion slideably matches in the groove.
Preferably,
The shaft includes two installation axles and intermediate adjustment axis at both ends, and the outside of the installation axle is arranged the set
Tub, the adjusting shaft length can be adjusted；
The adjustment axis includes two sleeves and connecting rod；
Described sleeve one end and the installation axle are connected, and the other end is slidably sleeved on outside the connecting rod.
Preferably,
The driving mechanism includes motor and speed reducer；
The output end of the motor connects the speed reducer；
The output end of the speed reducer is drivingly connected the shaft.
Preferably,
The steel cable includes the first steel cable and the second steel cable, and the steel cable end setting is linked up with, and first steel cable is close
The motor setting.
Preferably, further includes:
Tension sensor is separately positioned on described steel cable one end, is located above the hook, for detecting the drawing of steel cable
Power variation；
Infrared sensor, setting on the bracket, for detect workpiece to be operated away from ground level and described
The spacing of sleeve rack.
A kind of control method of the hoisting trolley of crane, comprising the following steps:
Step 1, according to the sampling period, acquire workpiece away from ground level H, the interval S of sleeve rack, the first steel cable pulling force
F1, the second steel cable pulling force F2；
Step 2 successively standardizes parameter, determines the input layer vector x={ x of three layers of BP neural network1,x2,x3,
x4}；Wherein, x1It is workpiece away from ground level coefficient, x2For the spread ratio of sleeve rack, x3For the first steel cable tension coefficient,
x4For the tension coefficient of the second steel cable；
Step 3, the input layer DUAL PROBLEMS OF VECTOR MAPPING to hidden layer, the hidden layer vector y={ y1,y2,…,ym, m is hidden layer section
Point number；
Step 4 obtains output layer vector o={ o1,o2}；o1For motor output end rotational speed regulation coefficient, o2To shut down letter
Number；
Step 5, control motor output end revolving speed, make
Wherein,For first parameter of i-th sampling period output layer vector, NmaxFor the maximum (top) speed of motor, Ni+1For
Motor output end revolving speed when the i+1 sampling period.
Preferably,
Further include step 6:
According to the workpiece in the i-th period away from ground level H, the interval S of sleeve rack, the first steel cable pulling force F1,
The pulling force F of two steel cables2, determine the operating status of hoisting trolley, whenShi Jinhang emergency shutdown.
Preferably,
When original state, motor initial speed N0Meet:
Wherein, P is retarder rated power, and η is the rated output torque of retarder, and h is the target of workpiece away from ground height
Degree, l1For the length of the stretching sleeve rack of the first steel wire, l2The length of sleeve rack is stretched out for the second steel wire.
Preferably,
The hidden node number m meets:Wherein n is input layer number, and p is
Output layer node number.
It is of the present invention the utility model has the advantages that the present invention provides a kind of hoisting trolley of crane, using a driving machine
Structure drive shaft rotates, and setting may be implemented two suspension centres while going up and down, may be implemented there are two the sleeve rack being spaced in shaft
Workpiece is hanged greatly；And the distance of two suspension centres can also be adjusted according to specific workpiece shapes and size, guarantee was gone up and down
The stability of journey enables workpiece steadily up and down, to realize efficiently lifting.The present invention also provides a kind of hoisting trolleys of crane
Control method, hoisting trolley operating status can be monitored based on BP neural network, according to specific in the course of work
Situation adjusts the revolving speed of motor, guarantees efficient, the even running of hoisting trolley.
Detailed description of the invention
Fig. 1 is the overall structure figure of the hoisting trolley of crane of the invention.
Fig. 2 is the shaft of the hoisting trolley of crane of the invention and the structure chart of sleeve rack.
Fig. 3 is the side structure chart that axis connected device of the invention is connect with speed reducer.
Fig. 4 is that axis connected device of the invention is connected with the rotating shaft side structure chart.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
As shown in Figure 1, the hoisting trolley of crane of the invention includes bracket 100, it is provided with bearing plate on bracket 100,
It is engraved structure by bearing plate, engraved structure is rectangular configuration, and rectangular configuration edge is provided with crossbeam 110 and stringer
120.Universal wheel 180 there are four being arranged in the bottom surrounding of bracket 100, facilitates the movement of bracket 100.
There are two sliding supports 130 for setting above engraved structure, and the bottom of sliding support is slidably disposed on stringer
Between 120, sliding support 130 is parallel to the crossbeam 110 and is arranged.At the top of sliding support 130, shaft 140, shaft are set
140 can rotate, and length is adjustable.It is arranged two arch sleeve racks 150, sleeve rack respectively at the both ends of shaft 140
150 middle part winds steel cable.Driving mechanism is set in one end of shaft 140, the driving mechanism drives described 140 turns of shaft
It is dynamic.
The inside of stringer 120 is oppositely arranged groove；130 two sides of the bottom of the sliding support setting protrusion 131；Also, institute
Protrusion 131 is stated slideably to match in the groove.When protrusion 131 slides into suitable position, can be pressed from both sides with fixing clasp
It holds on the stringer 120 of raised 131 two sides, fixes one of protrusion 131.Sliding support by driving mechanism
130 can be fixed on position at corresponding crossbeam 110.
As shown in Fig. 2, shaft 140 includes two installation axles 141 and intermediate adjustment axis 142 at both ends, the installation axle
141 outside is arranged the sleeve rack 150, and the length of the adjustment axis 142 can be adjusted；The adjustment axis 142 includes two
Sleeve 142a and middle part connecting rod 142b.The one end the sleeve 142a and the installation axle 141 are connected, and the other end is slideably
It is set in outside the connecting rod 142b.The length adjustment of shaft 140 is realized in the sliding of sleeve 142a.
The driving mechanism includes motor 180 and speed reducer 170；The output end of the motor 180 connects the speed reducer
170；The output end of the speed reducer 170 is drivingly connected the shaft 140.The motor and speed reducer setting are held described
On weight plate.
As shown in Figure 3-4, one end of axis connected device 160 connects 170 output end of speed reducer, and one end connects the shaft
140.Bearing 132 is set at the top of sliding support 130, and the shaft 140 is set in the bearing 132.
In another embodiment, control motor is arranged on the bracket 100, and output end connects the sliding support 130.
And it controls motor and motor is separately positioned on the both ends of shaft, the output end for controlling motor can control 130 edge of sliding support
Groove sliding, the length of motorized adjustment shaft is carried out with this, changes the spacing of two sleeve racks.The steel cable includes the first steel cable
With the second steel cable, the steel cable end setting hook, first steel cable is arranged close to the motor.
Tension sensor is separately positioned on described steel cable one end, is located above the hook, for detecting the pulling force of steel cable
Variation；Infrared sensor be arranged on the bracket, for detect workpiece to be operated away between ground level, the sleeve rack
The length etc. of sleeve is stretched out away from, steel cable
The present invention provides a kind of hoisting trolleys of crane, are rotated using a driving mechanism drive shaft, in shaft
It is arranged there are two the sleeve rack being spaced, two suspension centres may be implemented while going up and down, the hanged of big workpiece may be implemented；And it can also
To adjust the distance of two suspension centres according to specific workpiece shapes and size, guarantee the stability of lifting process, enables workpiece
Enough steadily up and down, it realizes and efficiently goes up and down.
The present invention also provides a kind of control methods of hoisting trolley, specifically comprise the following steps:
Step 1: establishing BP neural network model；
For the BP network architecture that the present invention uses by up of three-layer, first layer is input layer, total n node, corresponding
Indicate that n detection signal of equipment working state, these signal parameters are provided by data preprocessing module.The second layer is hidden layer,
Total m node is determined in an adaptive way by the training process of network.Third layer is output layer, total p node, by system
Actual needs output in response to determining that.
The mathematical model of the network are as follows:
Input layer vector: x=(x1,x2..., x ..., xn)T
Middle layer vector: y=(y1,y2,…,ym)T
Output layer vector: o=(o1,o2,…,op)T
In the present invention, input layer number is n=4, and output layer number of nodes is p=2.Hidden layer number of nodes m is estimated by following formula
It obtains:
According to sampling period, 4 parameters of input are as follows: x1It is workpiece away from ground level coefficient, x2For the spacing of sleeve rack
Coefficient, x3Tension coefficient, x for the first steel cable4For the tension coefficient of the second steel cable；
Specifically, to workpiece away from ground level H, after being standardized, obtain workpiece away from ground level coefficient x1:
Wherein, HmaxAnd HminThe respectively maximum value and minimum value away from ground level of workpiece.
Likewise, after being standardized, obtaining the spread ratio x of sleeve rack for the interval S of sleeve rack2:
Wherein, SmaxAnd SminThe respectively maximum value and minimum value of the spacing of sleeve rack.
Likewise, for the pulling force F of the first steel cable1, after being standardized, obtain the tension coefficient x of the first steel cable3:
Wherein, F1-maxAnd F1-minThe respectively maximum value and minimum value of the pulling force of the first steel cable.
Likewise, for the pulling force F of the second steel cable2, after being standardized, obtain the tension coefficient x of the second steel cable4:
Wherein, F2-maxAnd F2-minThe respectively maximum value and minimum value of the pulling force of the second steel cable.
2 parameters of output signal respectively indicate are as follows: o1For motor output end rotational speed regulation coefficient, o2For stopping signal；
Motor output end rotational speed regulation coefficient o1It is expressed as motor output end revolving speed in next sampling period and current
The ratio between motor output end maximum (top) speed set in sampling period, i.e., in the ith sample period, collected motor output end
Revolving speed Ni, the motor output end rotational speed regulation coefficient in ith sample period is exported by BP neural networkAfterwards, i+1 is controlled
Motor output end revolving speed is N in a sampling periodi+1, make its satisfaction
According to the workpiece in the i-th period away from ground level H, the interval S of sleeve rack, the first steel cable pulling force F1,
The pulling force F of two steel cables2, determine the operating status of hoisting trolley, whenShi Jinhang emergency shutdown.
Step 2: the training of BP neural network is carried out.
After establishing BP neural network nodal analysis method, the training of BP neural network can be carried out.According to the experience number of product
According to the sample for obtaining training, and give the connection weight w between input node i and hidden layer node jij, hidden node j and output
Connection weight w between node layer kjk, the threshold θ of hidden node jj, export the threshold value w of node layer kij、wjk、θj、θkIt is -1
Random number between to 1.
In the training process, w is constantly correctedijAnd wjkValue, until systematic error be less than or equal to anticipation error when, complete
The training process of neural network.
As shown in table 1, given the value of each node in one group of training sample and training process.
Each nodal value of 1 training process of table
Step 3: acquisition data run parameter input neural network is regulated coefficient；
S131: according to the sampling period, when obtaining the ith sample period workpiece away from ground level H, sleeve rack interval S,
The pulling force F of first steel cable1, the second steel cable pulling force F2；Wherein, i=1,2 ... ....
S132: successively standardizing above-mentioned 4 parameters, obtains when the ith sample period three layers of BP neural network
Input layer vector x={ x1,x2,x3,x4}。
S133: the input layer DUAL PROBLEMS OF VECTOR MAPPING to middle layer obtains middle layer vector y={ y when the ith sample period1,
y2,y3}。
S134: the middle layer is mapped to output layer, obtains obtaining output layer vector o={ o when the ith sample period1,
o2}。
S135, motor output end revolving speed is controlled, is made
Wherein,For first parameter of i-th sampling period output layer vector, NmaxFor the maximum (top) speed of motor, Ni+1For
Motor output end revolving speed when the i+1 sampling period.
When original state, make motor initial speed N0Meet:
Wherein, P is retarder rated power, unit kW；η is the rated output torque of retarder, unit N/s；H is workpiece
Target away from ground level, unit m；l1For the length of the stretching sleeve rack of the first steel wire, unit m；l2It stretches out and covers for the second steel wire
The length of tub, unit m.H is away from ground level, unit m；S is the spacing of sleeve rack, unit m；F1For the drawing of the first steel cable
Power, unit N；F2For the pulling force of the second steel cable, unit N.
S136, according to the workpiece in the i-th period away from ground level H, the interval S of sleeve rack, first steel cable pulling force
F1, the second steel cable pulling force F2, determine the operating status of hoisting trolley, work as oi2Emergency shutdown is carried out when=0.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of hoisting trolley of crane characterized by comprising
Bracket is provided with crossbeam and stringer；
Two sliding supports, bottom are slidably disposed between the stringer, and the sliding support is parallel to the crossbeam
Setting；
Shaft, is rotatably arranged at the top of the sliding support, and the length of the shaft can be adjusted；
Two arch sleeve racks are respectively sleeved at the both ends of the shaft, wind steel cable on the sleeve rack；
Driving mechanism, setting drive the shaft to rotate in the shaft side；
Motor is controlled, on the bracket, output end connects the sliding support for setting.
2. the hoisting trolley of crane according to claim 1, which is characterized in that
Groove is oppositely arranged on the inside of the stringer；
The sliding support two sides of the bottom setting protrusion；Also,
The protrusion slideably matches in the groove.
3. the hoisting trolley of crane according to claim 2, which is characterized in that
The shaft includes two installation axles and intermediate adjustment axis at both ends, and the outside of the installation axle is arranged the sleeve
Frame, the adjusting shaft length can be adjusted；
The adjustment axis includes two sleeves and connecting rod；
Described sleeve one end and the installation axle are connected, and the other end is slidably sleeved on outside the connecting rod.
4. the hoisting trolley of crane according to claim 3, which is characterized in that
The driving mechanism includes motor and speed reducer；
The output end of the motor connects the speed reducer；
The output end of the speed reducer is drivingly connected the shaft.
5. the hoisting trolley of crane according to claim 4, which is characterized in that
The steel cable includes the first steel cable and the second steel cable, and the steel cable end setting hook, first steel cable is close to described
Motor setting.
6. the hoisting trolley of crane according to claim 5, which is characterized in that further include:
Tension sensor is separately positioned on described steel cable one end, is located above the hook, and the pulling force for detecting steel cable becomes
Change；
Infrared sensor, setting on the bracket, for detect workpiece to be operated away from ground level and the sleeve
The spacing of frame.
7. a kind of control method of the hoisting trolley of crane, which comprises the following steps:
Step 1, according to the sampling period, acquire workpiece away from ground level H, the interval S of sleeve rack, the first steel cable pulling force F1,
The pulling force F of two steel cables2；
Step 2 successively standardizes parameter, determines the input layer vector x={ x of three layers of BP neural network1,x2,x3,x4}；
Wherein, x1It is workpiece away from ground level coefficient, x2For the spread ratio of sleeve rack, x3Tension coefficient, x for the first steel cable4For
The tension coefficient of second steel cable；
Step 3, the input layer DUAL PROBLEMS OF VECTOR MAPPING to hidden layer, the hidden layer vector y={ y1,y2,…,ym, m is hidden node
Number；
Step 4 obtains output layer vector o={ o1,o2}；o1For motor output end rotational speed regulation coefficient, o2For stopping signal；
Step 5, control motor output end revolving speed, make
Wherein,For first parameter of i-th sampling period output layer vector, NmaxFor the maximum (top) speed of motor, Ni+1For i+1
Motor output end revolving speed when a sampling period.
8. the control method of the hoisting trolley of crane according to claim 7, which is characterized in that further include step 6:
According to the workpiece in the i-th period away from ground level H, the interval S of sleeve rack, the first steel cable pulling force F1, the second steel cable
Pulling force F2, determine the operating status of hoisting trolley, whenShi Jinhang emergency shutdown.
9. the control method of the hoisting trolley of crane according to claim 8, which is characterized in that when original state, electricity
Machine initial speed N0Meet:
Wherein, P is retarder rated power, and η is the rated output torque of retarder, and h is the target of workpiece away from ground level, l1
For the length of the stretching sleeve rack of the first steel wire, l2The length of sleeve rack is stretched out for the second steel wire.
10. the control method of the hoisting trolley of crane according to claim 9, which is characterized in that
The hidden node number m meets:Wherein n is input layer number, and p is output layer
Node number.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910248696.2A CN109775564A (en) | 2019-03-29 | 2019-03-29 | A kind of hoisting trolley of crane |
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| CN201910248696.2A CN109775564A (en) | 2019-03-29 | 2019-03-29 | A kind of hoisting trolley of crane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112374346A (en) * | 2020-11-12 | 2021-02-19 | 重庆建筑工程职业学院 | Prefabricated component hoisting device for assembly type building |
| CN112537723A (en) * | 2020-12-01 | 2021-03-23 | 朱素青 | Stage lifting machine |
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| CN108147282A (en) * | 2017-12-08 | 2018-06-12 | 北京建筑机械化研究院有限公司 | For the six degree of freedom crane of building element lifting |
| CN108946295A (en) * | 2018-07-26 | 2018-12-07 | 安徽省绩溪县飞奔链传动有限公司 | A kind of double-station continous way chain wrap-up |
| CN109052016A (en) * | 2018-09-27 | 2018-12-21 | 天津市君治旺科技发展有限公司 | A kind of winding cylinder clamping device |
| CN209618696U (en) * | 2019-03-29 | 2019-11-12 | 辽宁机电职业技术学院 | A kind of hoisting trolley of crane |
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2019
- 2019-03-29 CN CN201910248696.2A patent/CN109775564A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108147282A (en) * | 2017-12-08 | 2018-06-12 | 北京建筑机械化研究院有限公司 | For the six degree of freedom crane of building element lifting |
| CN108946295A (en) * | 2018-07-26 | 2018-12-07 | 安徽省绩溪县飞奔链传动有限公司 | A kind of double-station continous way chain wrap-up |
| CN109052016A (en) * | 2018-09-27 | 2018-12-21 | 天津市君治旺科技发展有限公司 | A kind of winding cylinder clamping device |
| CN209618696U (en) * | 2019-03-29 | 2019-11-12 | 辽宁机电职业技术学院 | A kind of hoisting trolley of crane |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112374346A (en) * | 2020-11-12 | 2021-02-19 | 重庆建筑工程职业学院 | Prefabricated component hoisting device for assembly type building |
| CN112374346B (en) * | 2020-11-12 | 2022-06-14 | 重庆建筑工程职业学院 | Prefabricated component hoisting device for assembly type building |
| CN112537723A (en) * | 2020-12-01 | 2021-03-23 | 朱素青 | Stage lifting machine |
| CN112537723B (en) * | 2020-12-01 | 2023-12-29 | 朱素青 | Stage lifting machine |
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Inventor after: Liu Shuang Inventor after: Zhao Jinghui Inventor before: Liu Shuang Inventor before: He Jing Inventor before: Li Dongdong |