CN111458067A - Movement detection device and detection method for monorail crane - Google Patents
Movement detection device and detection method for monorail crane Download PDFInfo
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- CN111458067A CN111458067A CN202010345941.4A CN202010345941A CN111458067A CN 111458067 A CN111458067 A CN 111458067A CN 202010345941 A CN202010345941 A CN 202010345941A CN 111458067 A CN111458067 A CN 111458067A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/13—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the tractive or propulsive power of vehicles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/13—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the tractive or propulsive power of vehicles
- G01L5/136—Force sensors associated with a vehicle traction coupling
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
A mobile detection device and a detection method for a monorail crane belong to the electrical field, the detection device comprises a hydraulic valve bank and a tension sensor, a pull rod seat is connected with one end of the tension sensor, and the other end of the tension sensor is connected with a frame body; the frame body is provided with four bearing wheels which slide back and forth along the monorail track; the hydraulic oil pump and the generator are respectively arranged on two sides of the frame body and are connected with the frame body and the clamping oil cylinder; the passive rubber wheels are arranged at the input wheel ends of the hydraulic oil pump and the generator and can clamp the monorail track through the contraction of the clamping oil cylinder; a hydraulic valve bank and an electric cabinet are arranged on the lower sides of the hydraulic oil pump and the generator, and the hydraulic valve bank and the electric cabinet are respectively fixed on the two sides of the frame body; the generator shaft is connected with a rotary encoder, and a hydraulic oil tank is integrated below the frame body. The invention realizes the analysis of the relation between the speed and the tension of the locomotive in the moving process and more accurately detects the traction of the locomotive.
Description
Technical Field
The invention belongs to the field of electricity, and is mainly applied to a coal mine underground monorail crane rail transportation system.
Background
With the increasing number of monorail cranes under coal mines, the running state and the performance of the monorail cranes cannot be detected at the first time. The moving state of the monorail crane can be detected more conveniently.
China is a large coal consumption country, and with the continuous improvement of coal mining quantity and the continuous development of auxiliary transportation, underground monorail crane systems are applied more and more.
With the increasing number of monorail cranes under coal mines, the running state and the performance of the monorail cranes cannot be detected at the first time.
The current single-track crane detection means is static detection, a fixed connection point is arranged at a fixed position, the fixed connection point is connected with a tension meter, and the tension meter is connected with a single-track crane. When the traction force is detected, the locomotive moves forward, the tension meter is tensioned, and when the locomotive cannot move forward, the number of the tension meter at the moment is read to serve as the traction force of the locomotive.
The detection value of the current detection mode is the starting traction of the locomotive, is not accordant with the actual use working condition of the locomotive, and can not be used as the judgment basis of the traction of the locomotive strictly speaking.
Disclosure of Invention
The present invention solves the following problems:
1. and (3) dynamic detection of the running process of the monorail crane.
2. The single-rail crane is quickly disassembled and assembled during detection.
3. And a passive power supply mode.
The technical scheme of the invention is as follows: a mobile detection device for a monorail crane comprises a hydraulic valve bank and a tension sensor and is characterized in that a pull rod seat is connected with one end of the tension sensor, and the other end of the tension sensor is connected with a frame body; four bearing wheels are respectively arranged on the left side and the right side of the upper side of the frame body, and the four bearing wheels are arranged on the monorail track and slide back and forth along the monorail track; two sides of the frame body are respectively provided with a hydraulic oil pump and a generator, and one sides of the hydraulic oil pump and the generator are respectively connected with the frame body by adopting a rotating shaft; the other sides of the hydraulic oil pump and the generator are connected by a clamping oil cylinder; the hydraulic oil pump and the input wheel end of the generator are respectively provided with a driven rubber wheel, and the two driven rubber wheels can clamp the monorail track through the contraction of the clamping oil cylinder so as to increase the friction force between the driven wheel and the track and realize large-torque input; a hydraulic valve bank and an electric cabinet are respectively arranged at the lower sides of the hydraulic oil pump and the generator, and the hydraulic valve bank and the electric cabinet are respectively fixed at the two sides of the frame body; a rotary encoder is connected with a generator shaft, so that the input shaft of the encoder is the same as the input shaft of the generator or the rotating speed of a rotor; a hydraulic oil tank is integrated at the lowest part of the frame body.
The hydraulic valve group is an integrated hydraulic valve group integrated by 1 electronic flowmeter, 2 pressure sensors, 1 proportional throttle valve, 1 three-position four-way electromagnetic valve and 1 pilot check valve.
The electric control box is internally provided with 1 controller, the generator supplies power for each sensor, the execution electromagnet and the controller, the controller collects signals of each sensor, analyzes and processes the signals, controls the action of each electromagnetic valve group, and simultaneously transmits the collected data to the outside through the wireless communication antenna, so that the real-time monitoring and control of the data are realized.
When in work: the detection device is connected with a monorail crane, and the locomotive runs to drive the detection device to move forward. The two driven rubber wheels on the left side and the right side of the detection device clamp the monorail track through pre-pressure, and the two driven rubber wheels are driven to rotate in the advancing process of the detection device.
The left driven rubber wheel drives the hydraulic oil pump to work, the hydraulic oil pump provides energy for the whole hydraulic system, the proportional throttle valve does not work at the moment, an oil path is completely unblocked, the whole hydraulic system has no pressure, and the resistance of the left driven rubber wheel is small.
The driven rubber wheel on the right side drives the generator to work, electric energy is provided for each sensor, the execution electromagnet and the controller, and the controller starts to acquire signals of the rotating speed sensor.
When the speed reaches 0.1m/s and the output voltage of the generator reaches more than 12V, the controller controls the proportional throttle valve to gradually limit the flow, at the moment, the pressure of the output port of the hydraulic oil pump is increased, the torque required by the pump is increased, the tension value is transmitted to the controller by the tension sensor between the detection device and the monorail crane, meanwhile, the controller controls the three-position four-way electromagnetic valve to supply liquid to the clamping oil cylinder, so that the clamping oil cylinder increases the clamping force, the friction force between the driven rubber wheel and the monorail track is increased, and the slip between the driven rubber wheel and the monorail track is prevented.
The opening size of the proportional throttle valve is controlled to adjust the damping force of the whole detection device; the clamping force of the clamping oil cylinder is adjusted by matching the left and right actions of the three-position four-way electromagnetic valve; the closed-loop control of the detection device is realized by collecting the pressure values of the 2 pressure sensors, the tension values of the tension sensors and the speed values of the speed sensors.
And finally, the controller transmits the acquired related data to the outside through the wireless communication antenna, so that the detection personnel can analyze the state of the detected locomotive.
A movement detection method for a monorail crane is characterized by comprising the following steps:
1. the passive rubber wheel is connected with a hydraulic oil pump, and an electromagnetic throttle valve with adjustable flow is arranged at the oil outlet of the hydraulic oil pump, so that the output hydraulic damping of the hydraulic oil pump is increased, the load of the hydraulic oil pump is adjustable, and the load change of the detection device in the motion process is controllable and monitorable;
2. the detection device is connected with the monorail crane through a pull rod, and a tension sensor is integrated at the front end of the pull rod connection, so that the tension can be monitored in real time;
3. the passive rubber wheel is connected with a permanent magnet generator, so that the electric energy output of the detection device in the process of being pulled is realized, and the passive power supply self-running is realized;
4. integrating a rotary encoder at the other end of the generator to acquire real-time acquisition of the rotating speed and realize real-time monitoring of the speed and the acceleration;
5. the controller sends the collected related data to the outside through the wireless communication antenna, so that the detection personnel can analyze the state of the detected locomotive.
The working damping of the whole hydraulic system is adjusted through the proportional throttle valve, so that the tension of the whole detection device in a motion state is adjustable; the three-position four-way electromagnetic valve controls the clamping force of the clamping oil cylinder, so that the friction force of the driven rubber wheel can be adjusted.
The invention can realize the analysis of the relation between the speed and the tension of the locomotive in the motion process and more accurately detect the traction of the locomotive by adjusting the damping and monitoring the speed in real time.
Drawings
FIG. 1 is a block diagram of the present invention.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is a structural diagram of a hydraulic system-hydraulic valve group with adjustable damping in the invention.
Fig. 4 is an electrical schematic of the present invention.
In the figure, 1, a pull rod seat; 2. a tension sensor; 3. a monorail track; 4. a rotating shaft; 5. a frame body; 6. an electric cabinet; 7. a rotary encoder; 8. a wireless communication antenna; 9. a hydraulic oil pump; 10. a passive rubber wheel; 11. a load wheel; 12. a generator; 13. clamping the oil cylinder; 14. a hydraulic valve block; 15. a hydraulic oil tank; 16. an electronic flow meter; 17. a pressure sensor; 18. a proportional throttle valve; 19. a three-position four-way electromagnetic valve; 20. a pilot check valve; 21. and a controller.
Detailed Description
As shown in fig. 1 and 2, in the movement detection device for the monorail crane, a pull rod seat 1 is connected with one end of a tension sensor 2, and the other end of the tension sensor 2 is connected with a frame body 5; four bearing wheels 11 are respectively arranged on the left side and the right side of the upper side of the frame body 5, so that the whole detection device can slide back and forth on the monorail track 3.
Two sides of the frame body 5 are respectively provided with a hydraulic oil pump 9 and a generator 12, and one sides of the hydraulic oil pump 9 and the generator 12 are respectively connected with the frame body 5 by adopting a rotating shaft 4; the other sides of the hydraulic oil pump 9 and the generator 12 are connected by a clamping oil cylinder 13; the input shaft ends of the hydraulic oil pump 9 and the generator 12 are respectively provided with a driven rubber wheel 10, and the two driven rubber wheels 10 can clamp a monorail track through contraction of a clamping oil cylinder 13 so as to increase the friction force between the driven wheel and the track and realize large torque input.
A hydraulic valve bank 14 and an electric cabinet 6 are respectively arranged at the lower sides of the hydraulic oil pump 9 and the generator 12, and the hydraulic valve bank 14 and the electric cabinet 6 are respectively fixed at two sides of the frame body 5; the lower end shaft of the generator 12 is connected with a rotary encoder 7, and the input shaft of the rotary encoder 7 is the same as the input rotating speed shaft of the generator; a hydraulic oil tank 15 is integrated at the lowest part of the frame body 5.
As shown in fig. 3, the hydraulic valve group 14 is an integrated hydraulic valve group integrated by 1 electronic flowmeter 16, 2 pressure sensors 17, 1 proportional throttle valve 18, 1 three-position four-way solenoid valve 19, and 1 pilot check valve 20.
The working damping of the whole hydraulic system is adjusted through the proportional throttle valve, so that the tension of the whole detection device in a motion state is adjustable; the three-position four-way electromagnetic valve controls the clamping force of the clamping oil cylinder, so that the friction force of the driven rubber wheel can be adjusted.
As shown in fig. 4, 1 controller 21 is installed in the electric cabinet 6, the generator supplies power to each sensor, the execution electromagnet and the controller, the controller collects signals of each sensor, analyzes and processes the signals, controls the action of each electromagnetic valve group, and transmits collected data to the outside through the wireless communication antenna, thereby realizing real-time monitoring and control of the data.
When in work: the detection device is connected with a monorail crane, and the locomotive runs to drive the detection device to move forward. The two driven rubber wheels on the left side and the right side of the detection device clamp the monorail track through pre-pressure, and the two driven rubber wheels are driven to rotate in the advancing process of the detection device.
The left driven rubber wheel drives the hydraulic oil pump to work, the hydraulic oil pump provides energy for the whole hydraulic system, the proportional throttle valve does not work at the moment, an oil path is completely unblocked, the whole hydraulic system has no pressure, and the resistance of the left driven rubber wheel is small.
The driven rubber wheel on the right side drives the generator to work, electric energy is provided for each sensor, the execution electromagnet and the controller, and the controller starts to acquire signals of the rotating speed sensor.
After the speed reaches a certain value, the controller controls the proportional throttle valve to gradually limit the flow, at the moment, the pressure of the output port of the hydraulic oil pump is increased, the torque required by the pump is increased, the tension sensor between the detection device and the monorail crane transmits the tension value to the controller, and meanwhile, the controller controls the three-position four-way electromagnetic valve to supply liquid to the clamping oil cylinder, so that the clamping oil cylinder increases the clamping force, the friction force between the driven rubber wheel and the monorail track is increased, and the slippage between the driven rubber wheel and the monorail track is prevented.
The damping force of the whole detection device can be adjusted by controlling the opening size of the proportional throttle valve; the clamping force of the clamping oil cylinder can be adjusted by matching the left and right actions of the three-position four-way electromagnetic valve; the closed-loop control of the detection device is realized by collecting the pressure values of the 2 pressure sensors, the tension values of the tension sensors and the speed values of the speed sensors.
And finally, the controller transmits the acquired related data to the outside through the wireless communication antenna, so that the detection personnel can analyze the state of the detected locomotive.
The pressure sensor of the invention adopts a BP type pressure sensor.
Claims (7)
1. A mobile detection device for a monorail crane comprises a hydraulic valve bank and a tension sensor and is characterized in that a pull rod seat is connected with one end of the tension sensor, and the other end of the tension sensor is connected with a frame body; four bearing wheels are respectively arranged on the left side and the right side of the upper side of the frame body, and the four bearing wheels are arranged on the monorail track and slide back and forth along the monorail track; two sides of the frame body are respectively provided with a hydraulic oil pump and a generator, and one sides of the hydraulic oil pump and the generator are respectively connected with the frame body by adopting a rotating shaft; the other sides of the hydraulic oil pump and the generator are connected by a clamping oil cylinder; the hydraulic oil pump and the input wheel end of the generator are respectively provided with a driven rubber wheel, and the two driven rubber wheels can clamp the monorail track through the contraction of the clamping oil cylinder so as to increase the friction force between the driven wheel and the track and realize large-torque input; a hydraulic valve bank and an electric cabinet are respectively arranged at the lower sides of the hydraulic oil pump and the generator, and the hydraulic valve bank and the electric cabinet are respectively fixed at the two sides of the frame body; a rotary encoder is connected with a generator shaft, so that the input shaft of the encoder is the same as the input shaft of the generator or the rotating speed of a rotor; a hydraulic oil tank is integrated at the lowest part of the frame body.
2. The movement detection device for the monorail crane as defined in claim 1, wherein the hydraulic valve bank is an integrated hydraulic valve bank formed by integrating 1 electronic flowmeter, 2 pressure sensors, 1 proportional throttle valve, 1 three-position four-way electromagnetic valve and 1 pilot check valve.
3. The device as claimed in claim 1, wherein 1 controller is installed in the electrical cabinet, the generator supplies power to the sensors, the execution solenoid and the controller, the controller collects signals from the sensors, analyzes and processes the signals, controls the operation of the solenoid valves, and transmits the collected data to the outside through the wireless communication antenna, thereby realizing real-time monitoring and control of the data.
4. The movement detection device for the monorail crane according to claim 1, wherein during operation: the detection device is connected with the monorail crane, and the locomotive runs to drive the detection device to move forward; the two driven rubber wheels on the left side and the right side of the detection device clamp the monorail track through pre-pressure, and the two driven rubber wheels are driven to rotate in the advancing process of the detection device;
the left driven rubber wheel drives a hydraulic oil pump to work, the hydraulic oil pump provides energy for the whole hydraulic system, the proportional throttle valve does not work at the moment, an oil path is completely unblocked, the whole hydraulic system has no pressure, and the resistance of the left driven rubber wheel is small;
the driven rubber wheel on the right side drives the generator to work, electric energy is provided for each sensor, the execution electromagnet and the controller, and the controller starts to acquire signals of the rotating speed sensor.
5. The movement detection device for the monorail crane as claimed in claim 1, wherein when the speed reaches 0.1m/s and the output voltage of the generator reaches 12V or more, the controller controls the proportional throttle valve to gradually perform flow restriction, at this time, the pressure of the output port of the hydraulic oil pump increases, the torque required by the pump increases, the tension sensor between the detection device and the monorail crane vehicle transmits the tension value to the controller, and meanwhile, the controller controls the three-position four-way solenoid valve to supply liquid to the clamping cylinder, so that the clamping cylinder increases the clamping force, the friction force between the driven rubber wheel and the monorail track is increased, and the slippage between the driven rubber wheel and the monorail track is prevented.
6. The movement detection device for the monorail crane as defined in claim 1, wherein the damping force of the whole detection device is adjusted by controlling the opening size of the proportional throttle valve; the clamping force of the clamping oil cylinder is adjusted by matching the left and right actions of the three-position four-way electromagnetic valve; the closed-loop control of the detection device is realized by collecting the pressure values of the 2 pressure sensors, the tension values of the tension sensors and the speed values of the speed sensors.
7. A movement detection method for a monorail crane is characterized by comprising the following steps:
(1) the passive rubber wheel is connected with a hydraulic oil pump, and an electromagnetic throttle valve with adjustable flow is arranged at the oil outlet of the hydraulic oil pump, so that the output hydraulic damping of the hydraulic oil pump is increased, the load of the hydraulic oil pump is adjustable, and the load change of the detection device in the motion process is controllable and monitorable;
(2) the detection device is connected with the monorail crane through a pull rod, and a tension sensor is integrated at the front end of the pull rod connection, so that the tension can be monitored in real time;
(3) the passive rubber wheel is connected with a permanent magnet generator, so that the electric energy output of the detection device in the process of being pulled is realized, and the passive power supply self-running is realized;
(4) integrating a rotary encoder at the other end of the generator to acquire real-time acquisition of the rotating speed and realize real-time monitoring of the speed and the acceleration;
(5) the controller sends the collected related data to the outside through the wireless communication antenna, so that the detection personnel can analyze the state of the detected locomotive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010345941.4A CN111458067A (en) | 2020-04-27 | 2020-04-27 | Movement detection device and detection method for monorail crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010345941.4A CN111458067A (en) | 2020-04-27 | 2020-04-27 | Movement detection device and detection method for monorail crane |
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| CN111458067A true CN111458067A (en) | 2020-07-28 |
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| CN202010345941.4A Pending CN111458067A (en) | 2020-04-27 | 2020-04-27 | Movement detection device and detection method for monorail crane |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113515076A (en) * | 2021-04-15 | 2021-10-19 | 淮北浚程机电设备有限公司 | Explosion-proof and intrinsically safe speed regulation control box control system for storage battery monorail crane |
| CN113757197A (en) * | 2021-07-22 | 2021-12-07 | 浙江大学 | Constant pressure control method of pump station |
| CN116735061A (en) * | 2023-08-15 | 2023-09-12 | 长治市潞安合力机械有限责任公司 | Traction force testing device for monorail crane traction device |
-
2020
- 2020-04-27 CN CN202010345941.4A patent/CN111458067A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113515076A (en) * | 2021-04-15 | 2021-10-19 | 淮北浚程机电设备有限公司 | Explosion-proof and intrinsically safe speed regulation control box control system for storage battery monorail crane |
| CN113757197A (en) * | 2021-07-22 | 2021-12-07 | 浙江大学 | Constant pressure control method of pump station |
| CN113757197B (en) * | 2021-07-22 | 2023-02-14 | 浙江大学 | Constant pressure control method of pump station |
| CN116735061A (en) * | 2023-08-15 | 2023-09-12 | 长治市潞安合力机械有限责任公司 | Traction force testing device for monorail crane traction device |
| CN116735061B (en) * | 2023-08-15 | 2023-11-03 | 长治市潞安合力机械有限责任公司 | Traction force testing device for monorail crane traction device |
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