CN110294419A - The intelligent linkage control method and device of the towed bridge crane of electrical differential - Google Patents

The intelligent linkage control method and device of the towed bridge crane of electrical differential Download PDF

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Publication number
CN110294419A
CN110294419A CN201910608853.6A CN201910608853A CN110294419A CN 110294419 A CN110294419 A CN 110294419A CN 201910608853 A CN201910608853 A CN 201910608853A CN 110294419 A CN110294419 A CN 110294419A
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CN
China
Prior art keywords
towed
bridge crane
electrical differential
reel
intelligent
Prior art date
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Granted
Application number
CN201910608853.6A
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Chinese (zh)
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CN110294419B (en
Inventor
曹乐
章凯
褚华强
周志堃
蒋基元
程寅
黄中元
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Shanghai Zhenghua Heavy Industries Co Ltd
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Shanghai Zhenghua Heavy Industries Co Ltd
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Priority to CN201910608853.6A priority Critical patent/CN110294419B/en
Publication of CN110294419A publication Critical patent/CN110294419A/en
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Publication of CN110294419B publication Critical patent/CN110294419B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00Trolleys or crabs, e.g. operating above runways
    • B66C11/16Rope, cable, or chain drives for trolleys; Combinations of such drives with hoisting gear
    • B66C11/20Arrangements, e.g. comprising differential gears, enabling simultaneous or selective operation of travelling and hoisting gear; Arrangements using the same rope or cable for both travelling and hoisting, e.g. in Temperley cranes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/22Control systems or devices for electric drives
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/48Automatic control of crane drives for producing a single or repeated working cycle; Programme control

Abstract

The present invention relates to the intelligent linkage control method and device of the towed bridge crane of electrical differential, control method includes the following steps: that step S1, central controller send drive command to reel driver according to the operational order received;Step S2 acquires the hoist exercise data of hook mechanism and the moving of car data of trolley in real time, and the hoist exercise data of acquisition and moving of car data is transferred to central controller;Step S3, central controller carries out that offset data is calculated according to hoist exercise data and moving of car data, and sends compensation order to reel driver based on offset data.The intelligent linkage control method of the towed bridge crane of the electrical differential of the embodiment of the present invention is simple, and control precision is high, and the revolving speed and direction to motor are adjusted smoothly, can the good collaboration for realizing two spool motions.

Description

The intelligent linkage control method and device of the towed bridge crane of electrical differential
Technical field
The present invention relates to crane technical fields, and in particular to a kind of intelligent linkage of the towed bridge crane of electrical differential Control method and device.
Background technique
The carriage walking movement of the towed bridge crane of electrical differential intercouples with hook mechanism elevating movement, is different from Carriage walking movement and the relatively independent movement of hook mechanism elevating movement of conventional bridge crane.The towed bridge-type of electrical differential In crane, when two winding drum working condition is individually control, carriage walking and suspension hook machine are realized in the superposition of two winding drum working condition The linkage of structure lifting, therefore, the towed bridge crane of electrical differential is to two electricity for respectively driving its corresponding spool motion Revolving speed and the direction change control of machine require height, to realize the collaboration of two spool motions.However, current general control method It is difficult the good collaboration for realizing two spool motions.
Summary of the invention
In order to solve the above technical problems, it is an object of the present invention to provide a kind of towed bridge cranes of electrical differential Intelligent linkage control method, the control method is simple, control precision is high, revolving speed and direction to motor adjust it is smooth, can be with The good collaboration for realizing two spool motions.
It is another object of the present invention to provide a kind of towed overhead traveling cranes of the electrical differential for realizing above-mentioned control method The intelligent gang control device of machine.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
The intelligent linkage control method of the towed bridge crane of the electrical differential of embodiment according to a first aspect of the present invention, institute Stating the towed bridge crane of electrical differential includes:
The trolley of horizontal direction walking;
Two reels;
For respectively driving two reel drivers of the spool motion;And
For lifting the hook mechanism of weight, the hook mechanism is connected with the reel and the trolley respectively, institute Reel driver is stated to drive its corresponding spool motion and then realize the linkage of the trolley and the hook mechanism, the control Method processed includes the following steps:
Step S1, central controller send drive command to the reel driver according to the operational order received;
Step S2 acquires the hoist exercise data of the hook mechanism and the moving of car data of the trolley in real time, And the hoist exercise data of acquisition and the moving of car data are transferred to the central controller;
Step S3, the central controller calculate according to the hoist exercise data and the moving of car data Compensation order is sent to the reel driver to offset data, and based on the offset data.
Preferably, the reel driver drives the spool motion to specifically include: based on from the central controller The drive command of sending and compensation order pass through the servo-drive part driving spool motion.
It is further preferred that the reel driver drives the spool motion further include:
Calculate separately the position of the motor in two reel drivers;
The position being calculated is compared, and linkage position is formed to two reels according to comparison result and is compared Protection.
Preferably, the intelligent linkage control method of the towed bridge crane of the electrical differential further includes following steps:
Step S4 manages the operating condition of the towed bridge crane of the electrical differential using information management system.
The intelligent gang control device of the towed bridge crane of the electrical differential of embodiment according to a second aspect of the present invention, institute Stating the towed bridge crane of electrical differential includes:
The trolley of horizontal direction walking;
Two reels;
For respectively driving two reel drivers of the spool motion;And
For lifting the hook mechanism of weight, the hook mechanism is connected with the reel and the trolley respectively, institute Reel driver is stated to drive its corresponding spool motion and then realize the linkage of the trolley and the hook mechanism, the control Device processed includes:
Suspension hook encoder is set on the hook mechanism, and the hoist for acquiring the hook mechanism in real time moves number According to;
Bogie encoder is set on the trolley, for acquiring the moving of car data of the trolley in real time;
Central controller for sending drive command to the reel driver according to operational order, and is based on receiving The hoist exercise data and the moving of car data be calculated offset data, and then driven to the reel Device sends compensation order.
Preferably, the reel driver includes:
Motor, to drive the spool motion;
Servo-drive part drives the electricity to the drive command issued according to the central controller and compensation order Machine.
It is further preferred that the reel driver further include:
Motor encoder, to calculate the position of the motor,
Wherein, the position that two motor encoders are calculated is compared by the central controller, and according to Comparison result forms linkage position to two reels and compares protection.
It is further preferred that the suspension hook encoder and the bogie encoder are respectively absolute value encoder, it is described Motor encoder is pulse coder.
Preferably, the intelligent gang control device of the towed bridge crane of the electrical differential, further includes:
Information management system, operation of the information management system to manage the towed bridge crane of the electrical differential Situation.
Preferably, the intelligent gang control device of the towed bridge crane of the electrical differential, further includes:
Intelligent distribution system, to provide electric energy to the reel driver, and to store the reel driver fortune The electric energy generated in dynamic.
Preferably, the central controller passes through bus and the reel driver, suspension hook encoder and bogie encoder Telecommunications connection.
The beneficial effects of the present invention are:
The intelligent linkage control method and device of the towed bridge crane of electrical differential according to an embodiment of the present invention, pass through The hoist exercise data of hook mechanism and the moving of car data of trolley are acquired in real time and are transferred to central controller, center control Device carries out that offset data is calculated according to hoist exercise data and moving of car data, and is driven based on offset data to reel Device sends compensation order, to can timely feed back to another when the motor in certain reel driver being made velocity perturbation occur Motor in one reel driver so that the synchronism of two motors has obtained good guarantee, and then good realizes The collaboration of two spool motions, and the control method and device are simple, control precision height, the revolving speed and direction to motor adjust flat It is sliding.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention, And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the towed bridge crane of electrical differential of the embodiment of the present invention;
Fig. 2 is the flow chart of the intelligent linkage control method of the towed bridge crane of electrical differential of the embodiment of the present invention;
Fig. 3 is the module connection of the intelligent gang control device of the towed bridge crane of electrical differential of the embodiment of the present invention Figure;
Fig. 4 is the integral module of the intelligent gang control device of the towed bridge crane of electrical differential of the embodiment of the present invention Connection figure.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below Example is merely to illustrate the present invention, but is not intended to limit the scope of the invention.
The intelligent linkage control method of the towed bridge crane 10 of electrical differential according to an embodiment of the present invention, such as Fig. 1 institute Show, the towed bridge crane 10 of the electrical differential includes: 11, two reels 12 of trolley of horizontal direction walking, for driving respectively The hook mechanism 14 of two reel drivers 13 and lifting weight that movable reel 12 moves, wherein hook mechanism 14 and reel 12 are connected with trolley 11, when the towed bridge crane 10 of the electrical differential works, two reel drivers 13 respectively drive with Its corresponding reel 12 moves, and then the connection of trolley 11 and hook mechanism 14 is realized by the superposition of two 12 working conditions of reel Dynamic, as shown in Figures 2 and 3, which includes the following steps:
Step S1, central controller 201 send drive command to reel driver 13 according to the operational order received;
Step S2 acquires the hoist exercise data of the hook mechanism 14 and the moving of car number of the trolley 11 in real time According to, and the hoist exercise data of acquisition and the moving of car data are transferred to the central controller 201;
Step S3, the central controller 201 are counted according to the hoist exercise data and the moving of car data Calculation obtains offset data, and sends compensation order to the reel driver 13 based on the offset data.
That is, handling after central controller 201 receives operational order by program analysis, packet is then sent Drive command containing rotation direction and revolving speed gives two reel drivers 13, and two reel drivers 13 respectively drive and its phase The reel 12 answered moves, and then realizes the linkage of trolley 11 and hook mechanism 14, the suspension hook coding being set on hook mechanism 14 Device acquires the hoist exercise data of hook mechanism 14 in real time, and the bogie encoder being set on trolley 11 acquires moving of car in real time Data, and the hoist exercise data of acquisition and moving of car data are transferred to central controller 201, central controller 201 It according to hoist exercise data and moving of car data carries out that offset data is calculated, is then formed and mended according to obtained offset data Order of paying with one's life is sent to reel driver 13.
Central controller 201 passes through the hoist exercise data of the hook mechanism 14 acquired in real time and the moving of car of trolley 11 Data send compensation order to reel driver 13, thus when the motor in certain reel driver 13 being made velocity perturbation occur, The motor in another reel driver 13 can be timely fed back to, so that the synchronism of two motors has obtained good guarantor Barrier, and then the good collaboration for realizing the movement of two reels 12, and the control method is simple, control precision is high, to motor 132 Revolving speed and direction adjust it is smooth.
According to some embodiments of the present invention, as shown in figure 4, reel driver 13 drives the movement of reel 12 to specifically include: Reel 12 is driven to transport by servo-drive part 131 based on the drive command and compensation order issued from central controller 201 It is dynamic.It drives reel 12 to move by servo-drive part 131, refers to and moved by 131 driving motor 132 of servo-drive part, in turn It drives reel 12 to move by motor 132, realizes the accurate control of the movement of motor 132, and then further ensure that reel The concertedness of 12 movements and the stability of whole system.
According to some embodiments of the present invention, reel driver 13 drives reel 12 to move further include: calculates separately two The position of motor 132 in reel driver 13;The position being calculated is compared, and two are rolled up according to comparison result Cylinder 12 forms linkage position and compares protection, when certain motor 132 is by external disturbance, can quickly eliminate two motors 132 Between synchronous error, be adjusted to stable state rapidly, thus further ensure two reels 12 movement collaboration.
According to some embodiments of the present invention, the intelligent linkage control method of the towed bridge crane 10 of the electrical differential Further include following steps: step S4 manages the operation feelings of the towed bridge crane 10 of electrical differential using information management system 204 Condition.The operating condition of each mechanism of the towed bridge crane 10 of electrical differential is managed, by information management system 204 to go out Defect content, time are shown when existing problem, and the functions such as inquiry and playback are provided.
As shown in figure 3, realizing the electrical differential of the intelligent linkage control method of the towed bridge crane 10 of above-mentioned electrical differential The intelligent gang control device of towed bridge crane 10, including suspension hook encoder 203, bogie encoder 202 and center control Device 201 processed, suspension hook encoder 203 and bogie encoder 202 are respectively absolute value encoder, wherein suspension hook encoder 203 is arranged In on hook mechanism 14, for acquiring the hoist exercise data of hook mechanism 14 in real time;Bogie encoder 202, is set to trolley On 11, for acquiring the moving of car data of trolley 11 in real time;Central controller 201, for being driven according to operational order to reel Dynamic device 13 sends drive command, and based on the hoist exercise data and moving of car data received carries out that compensation is calculated Data, and then compensation order is sent to reel driver 13.
The control device makes the synchronism of the motor 132 in two reel drivers 13 obtain good guarantee, into And the good collaboration for realizing the movement of two reels 12, and the control device is simple, control precision is high, to turning for motor 132 Speed and direction adjust smooth.
According to some embodiments of the present invention, the reel driver 13 in the towed bridge crane 10 of the electrical differential wraps Include motor 132 and servo-drive part 131, wherein motor 132 is to drive reel 12 to move, and servo-drive part 131 is to basis The drive command and compensation order driving motor 132 that central controller 201 issues.Servo-drive part 131 can be realized to motor The accurate control of 132 revolving speeds, and then the accurate control moved to reel 12 is realized, to ensure that the collaboration that reel 12 moves The stability of property and whole system.
According to some embodiments of the present invention, the reel driver 13 in the towed bridge crane 10 of the electrical differential is gone back Motor encoder 133 including the position to calculate motor 132, central controller 201 calculate two motor encoders 133 Obtained position is compared, and is formed linkage position to two reels 12 according to comparison result and compared protection, and wherein motor is compiled Code device 133 is pulse coder.
According to some embodiments of the present invention, the intelligent gang control device of the towed bridge crane 10 of the electrical differential It further include information management system 204, operation feelings of the information management system 204 to manage the towed bridge crane 10 of electrical differential Condition.
According to some embodiments of the present invention, the intelligent gang control device of the towed bridge crane 10 of the electrical differential It further include intelligent distribution system 205, intelligent distribution system 205 is to provide electric energy to reel driver 13, and to storage roll The electric energy generated in the cylinder movement of driver 13.The towed bridge crane 10 of the electrical differential is obtained by intelligent distribution system 205 Electric energy, and the electric energy that when load reduction or reel 12 are put rope generates is stored into 12 rope closing of supply spool in intelligent distribution system 205 When energy consumption use, to save electric energy.
According to some embodiments of the present invention, the intelligent gang control device of the towed bridge crane 10 of the electrical differential In, central controller 201 is connect by bus with reel driver 13, suspension hook encoder 203 and 202 telecommunications of bogie encoder. Wherein, the communication type of bus is Process FieldbusROFIBUS.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.

Claims (11)

1. a kind of intelligent linkage control method of the towed bridge crane of electrical differential,
The towed bridge crane of electrical differential includes:
The trolley of horizontal direction walking;
Two reels;
For respectively driving two reel drivers of the spool motion;And
For lifting the hook mechanism of weight, the hook mechanism is connected with the reel and the trolley respectively, the volume Cylinder driver drives its corresponding spool motion and then realizes the linkage of the trolley and the hook mechanism, and feature exists In the control method includes the following steps:
Step S1, central controller send drive command to the reel driver according to the operational order received;
Step S2 acquires the hoist exercise data of the hook mechanism and the moving of car data of the trolley in real time, and will The hoist exercise data and the moving of car data of acquisition are transferred to the central controller;
Step S3, the central controller according to the hoist exercise data and the moving of car data carry out that benefit is calculated Data are repaid, and compensation order is sent to the reel driver based on the offset data.
2. the intelligent linkage control method of the towed bridge crane of electrical differential according to claim 1, which is characterized in that The reel driver drives the spool motion to specifically include: based on the drive command issued from the central controller with And compensation order drives the spool motion by servo-drive part.
3. the intelligent linkage control method of the towed bridge crane of electrical differential according to claim 2, which is characterized in that The reel driver drives the spool motion further include:
Calculate separately the position of the motor in two reel drivers;
The position being calculated is compared, and linkage position is formed to two reels according to comparison result and compares guarantor Shield.
4. the intelligent linkage control method of the towed bridge crane of electrical differential according to claim 1, which is characterized in that Further include following steps:
Step S4 manages the operating condition of the towed bridge crane of the electrical differential using information management system.
5. a kind of intelligent gang control device of the towed bridge crane of electrical differential,
The towed bridge crane of electrical differential includes:
The trolley of horizontal direction walking;
Two reels;
For respectively driving two reel drivers of the spool motion;And
For lifting the hook mechanism of weight, the hook mechanism is connected with the reel and the trolley respectively, the volume Cylinder driver drives its corresponding spool motion and then realizes the linkage of the trolley and the hook mechanism, and feature exists In the control device includes:
Suspension hook encoder is set on the hook mechanism, for acquiring the hoist exercise data of the hook mechanism in real time;
Bogie encoder is set on the trolley, for acquiring the moving of car data of the trolley in real time;
Central controller, for sending drive command to the reel driver according to operational order, and based on the institute received It states hoist exercise data and the moving of car data carries out that offset data is calculated, and then sent out to the reel driver Compensation is sent to order.
6. the intelligent gang control device of the towed bridge crane of electrical differential according to claim 5, which is characterized in that The reel driver includes:
Motor, to drive the spool motion;
Servo-drive part drives the motor to the drive command issued according to the central controller and compensation order.
7. the intelligent gang control device of the towed bridge crane of electrical differential according to claim 6, which is characterized in that The reel driver further include:
Motor encoder, to calculate the position of the motor,
Wherein, the position that two motor encoders are calculated is compared by the central controller, and according to comparing As a result linkage position is formed to two reels and compares protection.
8. the intelligent gang control device of the towed bridge crane of electrical differential according to claim 7, which is characterized in that The suspension hook encoder and the bogie encoder are respectively absolute value encoder, and the motor encoder is pulse coder.
9. the intelligent gang control device of the towed bridge crane of electrical differential according to claim 5, which is characterized in that Further include:
Information management system, operation feelings of the information management system to manage the towed bridge crane of the electrical differential Condition.
10. the intelligent gang control device of the towed bridge crane of electrical differential according to claim 5, feature exist In, further includes:
Intelligent distribution system, to provide electric energy to the reel driver, and to store in the reel driver movement The electric energy of generation.
11. the intelligent gang control device of the towed bridge crane of electrical differential according to claim 5, feature exist In the central controller is connect by bus with the reel driver, suspension hook encoder and bogie encoder telecommunications.
CN201910608853.6A 2019-07-08 2019-07-08 Intelligent linkage control method and device for electric differential traction type bridge crane Active CN110294419B (en)

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Application Number Priority Date Filing Date Title
CN201910608853.6A CN110294419B (en) 2019-07-08 2019-07-08 Intelligent linkage control method and device for electric differential traction type bridge crane

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CN110294419B CN110294419B (en) 2021-02-02

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4074234A (en) * 1974-04-25 1978-02-14 Mccabe-Powers Body Company Control system for an aerial device
JP2001302175A (en) * 2000-04-19 2001-10-31 Mitsubishi Heavy Ind Ltd Absolute encoder type position measurement device and method of correcting coefficient
CN1785784A (en) * 2005-07-22 2006-06-14 上海振华港口机械(集团)股份有限公司 Differential driving mechanism of container crane lifting and trolley compound motion
CN202429904U (en) * 2012-06-18 2012-09-12 上海宝松重型机械工程(集团)有限公司 Control system for differential switch of grab bucket crane
CN105905804A (en) * 2016-06-13 2016-08-31 同济大学 Hybrid differential driving mechanism for controlling lifting of crane and transverse moving of trolley
CN108217469A (en) * 2017-12-20 2018-06-29 武汉理工大学 A kind of Differential Driving bridge crane test stand and its Differential Driving method
CN108557649A (en) * 2018-04-28 2018-09-21 上海振华重工(集团)股份有限公司 Electrical differential ship unloaders steel wire rope synchronous method, device, medium, equipment and system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4074234A (en) * 1974-04-25 1978-02-14 Mccabe-Powers Body Company Control system for an aerial device
JP2001302175A (en) * 2000-04-19 2001-10-31 Mitsubishi Heavy Ind Ltd Absolute encoder type position measurement device and method of correcting coefficient
CN1785784A (en) * 2005-07-22 2006-06-14 上海振华港口机械(集团)股份有限公司 Differential driving mechanism of container crane lifting and trolley compound motion
CN202429904U (en) * 2012-06-18 2012-09-12 上海宝松重型机械工程(集团)有限公司 Control system for differential switch of grab bucket crane
CN105905804A (en) * 2016-06-13 2016-08-31 同济大学 Hybrid differential driving mechanism for controlling lifting of crane and transverse moving of trolley
CN108217469A (en) * 2017-12-20 2018-06-29 武汉理工大学 A kind of Differential Driving bridge crane test stand and its Differential Driving method
CN108557649A (en) * 2018-04-28 2018-09-21 上海振华重工(集团)股份有限公司 Electrical differential ship unloaders steel wire rope synchronous method, device, medium, equipment and system

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