CN111776945A - Monitoring deviation rectifying system and method for large-span portal crane - Google Patents
Monitoring deviation rectifying system and method for large-span portal crane Download PDFInfo
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- CN111776945A CN111776945A CN202010569056.4A CN202010569056A CN111776945A CN 111776945 A CN111776945 A CN 111776945A CN 202010569056 A CN202010569056 A CN 202010569056A CN 111776945 A CN111776945 A CN 111776945A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a monitoring deviation correcting system and a monitoring deviation correcting method for a large-span portal crane, and relates to the technical field of engineering mechanical equipment, wherein the system comprises an encoder system, an original vehicle control system and a deviation correcting control system, the encoder system comprises a rigid leg photoelectric encoder and a flexible leg photoelectric encoder, the rigid leg photoelectric encoder is used for calculating the moving distance of a rigid leg of the portal crane, and the flexible leg photoelectric encoder is used for calculating the moving distance of a flexible leg of the portal crane; the original vehicle control system is used for controlling the movement of the rigid legs and the flexible legs; and the deviation rectifying control system is used for driving the original vehicle control system to work to carry out movement rectification on the rigid leg or the flexible leg when the deviation value of the movement distances of the rigid leg and the flexible leg is greater than a preset threshold value based on the movement distance of the rigid leg calculated by the rigid leg photoelectric encoder and the movement distance of the flexible leg calculated by the flexible leg photoelectric encoder. The invention can effectively ensure the use safety of the portal crane and the operation safety of field workers.
Description
Technical Field
The invention relates to the technical field of engineering mechanical equipment, in particular to a monitoring and deviation rectifying system and method for a large-span portal crane.
Background
The large-span portal crane is widely applied to the engineering construction field and other large-scale engineering fields, particularly to a modern prefabricated part assembly type base. When the large-span portal crane is in operation, the phenomenon of different speeds can be generated after rigid legs and flexible legs operate for a period of time under the influence of different operating resistances of the legs at two sides, wheel skidding, difference of wheel diameters, different operating resistances caused by height and parallel deviation of a cart track, and the like, wherein the legs at one side are ahead of the legs at the other side, when the advance (deflection) exceeds a certain value, the gantry structure of the crane generates larger distortion, can cause the running wheel set of the crane cart to jump and derail, endanger the safety of field workers, meanwhile, the gantry structure of the crane is greatly deformed to increase the running resistance of the mechanism and the internal force of a metal component, so that a running motor is burnt or the metal component is damaged, therefore, the safety of the driving device and the metal component is reduced, the service life of the crane is shortened, and even the crane cannot work. Therefore, for a large-span gantry crane with a span greater than or equal to 40m, the deviation correcting device needs to be considered in design.
After decades of practice and continuous research, the correction device of the large-span portal crane has been developed into a mature technology. Most of the existing large-span portal crane rigid-flexible leg deviation correcting systems adopt a portal crane deviation correcting device based on a Programmable Logic Controller (PLC) and a frequency converter, and are influenced by a use environment and other auxiliary devices in actual work, so that common defects such as large data error, untimely deviation correction monitoring, easy damage of the deviation correcting system, error deviation correction or too frequent deviation correction influence on normal use of the portal crane can exist, the deviation correcting system cannot be normally applied in normal production, the reasonable deviation correction of the portal crane in a normal use state can not be ensured, and the use safety of the portal crane and the operation safety of field workers can not be ensured.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a monitoring and deviation rectifying system and method for a large-span portal crane, which can effectively ensure the use safety of the portal crane and the operation safety of field workers.
In order to achieve the above object, the present invention provides a monitoring deviation correcting system for a large-span gantry crane, comprising:
the encoder system comprises a rigid leg photoelectric encoder and a flexible leg photoelectric encoder, wherein the rigid leg photoelectric encoder is used for calculating the moving distance of a rigid leg of the gantry crane, and the flexible leg photoelectric encoder is used for calculating the moving distance of a flexible leg of the gantry crane;
the original vehicle control system is used for controlling the movement of the rigid legs and the flexible legs;
and the deviation rectifying control system is used for driving the original vehicle control system to work to perform movement rectification on the rigid leg or the flexible leg when the deviation value of the movement distance of the rigid leg and the movement distance of the flexible leg is greater than a preset threshold value based on the movement distance of the rigid leg calculated by the rigid leg photoelectric encoder and the movement distance of the flexible leg calculated by the flexible leg photoelectric encoder.
On the basis of the technical scheme, the device further comprises a human-computer interaction interface connected with the deviation rectification control system, wherein the human-computer interaction interface is used for displaying the deviation value of the moving distance of the rigid leg and the flexible leg in real time, and when the deviation value of the moving distance of the rigid leg and the flexible leg is larger than a preset threshold value, the original vehicle control system is driven to work through the deviation rectification control system, the movement of the rigid leg or the flexible leg is controlled, and the rigid leg or the flexible leg is moved and rectified.
On the basis of the technical proposal, the device comprises a shell,
the original vehicle control system comprises a rigid leg controller and a flexible leg controller;
the rigid leg controller is used for controlling the movement of the rigid leg;
the flexible leg controller is used for controlling the movement of the flexible leg.
On the basis of the technical scheme, the deviation rectification control system is specifically used for:
based on the moving distance of the rigid leg calculated by the rigid leg photoelectric encoder and the moving distance of the flexible leg calculated by the flexible leg photoelectric encoder, when the deviation value of the moving distance of the rigid leg and the flexible leg is greater than a preset threshold value, the relative position of the flexible leg and the rigid leg is judged:
when the flexible leg is behind the rigid leg, the flexible leg controller is driven to control the flexible leg to move forwards, and the flexible leg is prohibited from moving backwards;
when the flexible leg is in front of the right leg, the flexible leg controller is driven to control the flexible leg to move backwards, and the flexible leg is prohibited from moving forwards.
On the basis of the technical proposal, the device comprises a shell,
the rigid leg photoelectric encoder and the flexible leg photoelectric encoder are connected with a deviation rectification control system through a Profinet interface module;
the rigid leg photoelectric encoder and the flexible leg photoelectric encoder are both multi-turn absolute value encoders.
On the basis of the technical scheme, the leg-bending alarm further comprises an audible and visual alarm, and the audible and visual alarm is used for giving an alarm when the deviation value of the moving distance of the rigid leg and the flexible leg is larger than a preset threshold value.
On above-mentioned technical scheme's basis, still include rigid-flexible leg calibration switch and a plurality of electromagnetic induction piece, rigid-flexible leg calibration switch links to each other with deviation control system, the electromagnetic induction piece is interval arrangement along gantry crane's track and forms the calibration point, when gantry crane passes through the calibration point at every turn, calibrates rigid-flexible leg and the displacement of gentle leg through rigid-flexible leg calibration switch.
The invention also provides a monitoring and deviation rectifying method of the large-span portal crane, which is realized based on the system and comprises the following steps:
the rigid leg photoelectric encoder calculates the moving distance of the rigid leg of the gantry crane;
the flexible leg photoelectric encoder calculates the moving distance of the flexible leg of the gantry crane;
based on the moving distance of the rigid leg calculated by the rigid leg photoelectric encoder and the moving distance of the flexible leg calculated by the flexible leg photoelectric encoder, the deviation correction control system calculates to obtain the deviation value of the moving distances of the rigid leg and the flexible leg;
and judging the obtained deviation value, if the deviation value is greater than a preset threshold value, driving the original vehicle control system to work by the deviation correction control system, and performing movement deviation correction on the rigid leg or the flexible leg, otherwise, not performing processing.
On the basis of the technical scheme, the obtained deviation value is judged, if the deviation value is larger than a preset threshold value, the deviation rectification control system drives the original vehicle control system to work, and the rigid leg or the flexible leg is moved to rectify the deviation, and the specific steps comprise:
judging the obtained deviation value, if the deviation value is greater than a preset threshold value, judging the relative positions of the flexible leg and the rigid leg:
when the flexible leg is behind the rigid leg, the deviation correcting control system drives the flexible leg controller to control the flexible leg to move forwards, and the flexible leg is prohibited to move backwards;
when the flexible leg is in front of the rigid leg, the deviation correction control system drives the flexible leg controller to control the flexible leg to move backwards, and forbids the flexible leg to move forwards.
On the basis of the technical proposal, the device comprises a shell,
the rigid leg photoelectric encoder and the flexible leg photoelectric encoder are connected with a deviation rectification control system through a Profinet interface module;
the rigid leg photoelectric encoder and the flexible leg photoelectric encoder are both multi-turn absolute value encoders.
Compared with the prior art, the invention has the advantages that: through setting up rigid leg photoelectric encoder and gentle leg photoelectric encoder, rigid leg photoelectric encoder calculates the displacement distance of the rigid leg of gantry crane, gentle leg photoelectric encoder calculates the displacement distance of the gentle leg of gantry crane, displacement distance and the displacement distance of the gentle leg that gentle leg photoelectric encoder calculated based on the rigid leg photoelectric encoder calculates, when the deviation value of rigid leg and gentle leg displacement distance is greater than the predetermined threshold value, the former car control system work of drive, remove to rigid leg or gentle leg and rectify the deviation, can show the application that improves large-span gantry crane rectifying system normalizes in the actual production, improve portal crane smooth operation index and portal crane rectifying system rate of utilization simultaneously, effectively ensure portal crane's safe in utilization and field work personnel's operation safety.
Drawings
FIG. 1 is a schematic structural diagram of a monitoring deviation correcting system of a large-span gantry crane according to an embodiment of the present invention;
FIG. 2 is a flowchart of a monitoring and deviation rectifying method for a large-span gantry crane according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating deviation rectifying for rigid leg or flexible leg according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a monitoring deviation correcting system of a large-span portal crane, which realizes the calculation of the moving distance of a rigid leg and a flexible leg through an encoder system, thereby realizing deviation correction, obviously improving the normalized application of the deviation correcting system of the large-span portal crane in the actual production, simultaneously improving the stable operation index of a portal crane and the utilization rate of the deviation correcting system of the portal crane, and effectively ensuring the use safety of the portal crane and the operation safety of field workers. The embodiment of the invention correspondingly provides a monitoring and deviation rectifying method of the large-span portal crane.
The present invention will be described in further detail with reference to the accompanying drawings and examples. As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Referring to fig. 1, the monitoring deviation correcting system of the large-span gantry crane according to the embodiment of the present invention includes an encoder system, an original vehicle control system, and a deviation correcting control system, wherein the encoder system is connected to the original vehicle control system, and the deviation correcting control system is connected to the original vehicle control system. The deviation rectification control system in the embodiment of the invention is based on 1200PLC, and the original vehicle control system is based on 300 PLC.
The encoder system comprises a rigid leg photoelectric encoder and a flexible leg photoelectric encoder, the rigid leg photoelectric encoder is used for calculating the moving distance of a rigid leg of the gantry crane, and the flexible leg photoelectric encoder is used for calculating the moving distance of a flexible leg of the gantry crane. Specifically, the rigid leg photoelectric encoder is arranged on a detection wheel of the rigid leg, so that the moving distance of the rigid leg is calculated in the moving process of the portal crane; gentle leg photoelectric encoder installs on gentle leg detection wheel to gantry crane is at the removal in-process, calculates the displacement distance of gentle leg. The rigid leg photoelectric encoder and the flexible leg photoelectric encoder are connected with a deviation rectification control system through a Profinet (automatic bus standard) interface module. The rigid leg photoelectric encoder and the flexible leg photoelectric encoder are both multi-turn absolute value encoders.
The original vehicle control system is used for controlling the movement of the rigid legs and the flexible legs. The original vehicle control system is the originally-carried movement control system of the portal crane, and through the system, an operator can control the movement of the rigid legs and the flexible legs in a manual or automatic control mode so as to control the forward and backward movement of the portal crane.
And the deviation rectifying control system is used for driving the original vehicle control system to work to carry out movement rectification on the rigid leg or the flexible leg when the deviation value of the movement distances of the rigid leg and the flexible leg is greater than a preset threshold value based on the movement distance of the rigid leg calculated by the rigid leg photoelectric encoder and the movement distance of the flexible leg calculated by the flexible leg photoelectric encoder. Because the moving distances of the rigid leg and the flexible leg of the portal crane are calculated respectively, after the moving distances of the rigid leg and the flexible leg are calculated, the rigid leg and the flexible leg are compared, so that the deviation value of the moving distances of the rigid leg and the flexible leg can be obtained, the obtained deviation value is compared with a preset threshold value, and if the deviation value is greater than the preset threshold value, the risk of the portal crane exists at the moment and the deviation needs to be corrected in time.
Furthermore, the monitoring deviation correcting system of the embodiment of the invention further comprises a human-computer interaction interface connected with the deviation correcting control system, wherein the human-computer interaction interface is used for displaying the deviation value of the moving distance of the rigid leg and the flexible leg in real time, and when the deviation value of the moving distance of the rigid leg and the flexible leg is larger than a preset threshold value, the deviation correcting control system drives the original vehicle control system to work, so that the movement of the rigid leg or the flexible leg is controlled, and the rigid leg or the flexible leg is subjected to movement deviation correction. When the deviation value of the moving distance of the rigid leg and the flexible leg exceeds a preset threshold value, an operator can operate the rigid leg and the flexible leg to move on a man-machine interaction interface, so that the deviation is eliminated. Of course, the human-computer interaction interface in the embodiment of the invention can also display other parameters of the gantry crane, such as main hook load, auxiliary hook load, trolley travel, cart travel and the like, and through the human-computer interaction interface, an operator can visually see various operating parameters of the gantry crane, thereby effectively preventing unpredictable performance which cannot be found in time after the deviation rectifying system breaks down.
The original vehicle control system in the embodiment of the invention comprises a rigid leg controller and a flexible leg controller, wherein the rigid leg controller is used for controlling the movement of a rigid leg, and the flexible leg controller is used for controlling the movement of a flexible leg. The deviation correcting control system is specifically used for:
based on the moving distance of the rigid leg calculated by the rigid leg photoelectric encoder and the moving distance of the flexible leg calculated by the flexible leg photoelectric encoder, when the deviation value of the moving distance of the rigid leg and the flexible leg is greater than a preset threshold value, the relative position of the flexible leg and the rigid leg is judged:
when the flexible leg is behind the rigid leg, the flexible leg controller is driven to control the flexible leg to move forwards, and the flexible leg is prohibited from moving backwards;
when the flexible leg is in front of the right leg, the flexible leg controller is driven to control the flexible leg to move backwards, and the flexible leg is prohibited from moving forwards. By inhibiting the operation, the occurrence of the more correction deviation situation is effectively avoided.
Furthermore, the monitoring deviation correcting system of the embodiment of the invention further comprises an audible and visual alarm, wherein the audible and visual alarm is used for giving an alarm when the deviation value of the moving distance of the rigid leg and the flexible leg is larger than a preset threshold value, and timely reminds an operator to correct the deviation in an alarm mode so as to prevent dangerous conditions. And when the deviation is eliminated, the alarm is released.
Furthermore, the monitoring deviation correcting system of the embodiment of the invention further comprises a rigid-flexible leg calibration switch and a plurality of electromagnetic induction blocks, wherein the rigid-flexible leg calibration switch is connected with the deviation correcting control system, the electromagnetic induction blocks are arranged at intervals along the track of the portal crane to form calibration points, and when the portal crane passes through the calibration points each time, the rigid-flexible leg calibration switch is used for calibrating the moving distance of the rigid leg and the flexible leg. In the moving process of the portal crane, the rigid-flexible leg calibration switch and the calibration point automatically sense and point, and initial detection of the deviation value is carried out in real time. Equivalently, two sets of monitoring systems are adopted, one set is an encoder system, the other set is a rigid-flexible leg calibration switch and an electromagnetic induction block, and the moving distance deviation of the rigid leg and the flexible leg is effectively monitored through the two sets of monitoring systems.
According to the monitoring deviation correcting system of the large-span portal crane, the rigid leg photoelectric encoder and the flexible leg photoelectric encoder are arranged, the rigid leg photoelectric encoder calculates the moving distance of the rigid leg of the portal crane, the flexible leg photoelectric encoder calculates the moving distance of the flexible leg of the portal crane, the original vehicle control system is driven to work to perform moving deviation correction on the rigid leg or the flexible leg based on the moving distance of the rigid leg calculated by the rigid leg photoelectric encoder and the moving distance of the flexible leg calculated by the flexible leg photoelectric encoder, when the deviation value of the moving distances of the rigid leg and the flexible leg is larger than the preset threshold value, the normalized application of the large-span portal crane deviation correcting system in actual production can be obviously improved, the stable running index of a portal crane and the utilization rate of a portal crane deviation correcting system are improved, and the use safety of the portal crane and the operation safety of field workers are effectively ensured.
Referring to fig. 2, the monitoring deviation correcting method for the large-span gantry crane according to the embodiment of the present invention is implemented based on the monitoring deviation correcting system, and includes the following steps:
s1: the rigid leg photoelectric encoder calculates the moving distance of the rigid leg of the gantry crane;
s2: the flexible leg photoelectric encoder calculates the moving distance of the flexible leg of the gantry crane; in the embodiment of the invention, the rigid leg photoelectric encoder and the flexible leg photoelectric encoder are connected with a deviation rectification control system through the Profinet interface module, and both the rigid leg photoelectric encoder and the flexible leg photoelectric encoder are multi-turn absolute value encoders.
S3: based on the moving distance of the rigid leg calculated by the rigid leg photoelectric encoder and the moving distance of the flexible leg calculated by the flexible leg photoelectric encoder, the deviation correction control system calculates to obtain the deviation value of the moving distances of the rigid leg and the flexible leg;
s4: and judging the obtained deviation value, if the deviation value is greater than a preset threshold value, driving the original vehicle control system to work by the deviation correction control system, and performing movement deviation correction on the rigid leg or the flexible leg, otherwise, not performing processing.
Referring to fig. 3, in a possible embodiment, the obtained deviation value is determined, and if the deviation value is greater than a preset threshold, the deviation rectification control system drives the original vehicle control system to work to perform movement rectification on a rigid leg or a flexible leg, and the specific steps include:
s401: judging the obtained deviation value, if the deviation value is larger than a preset threshold value, judging the relative positions of the soft leg and the rigid leg, and turning to S402 when the soft leg is behind the rigid leg, and turning to S403 when the soft leg is in front of the rigid leg;
s402: the deviation correcting control system drives the flexible leg controller to control the flexible leg to move forwards, and the flexible leg is prohibited from moving backwards;
s403: when the flexible leg is in front of the rigid leg, the deviation correction control system drives the flexible leg controller to control the flexible leg to move backwards, and forbids the flexible leg to move forwards.
According to the monitoring deviation rectifying method for the large-span portal crane, the moving distance of the rigid leg of the portal crane is calculated through the rigid leg photoelectric encoder, the moving distance of the flexible leg of the portal crane is calculated through the flexible leg photoelectric encoder, the original vehicle control system is driven to work based on the moving distance of the rigid leg calculated by the rigid leg photoelectric encoder and the moving distance of the flexible leg calculated by the flexible leg photoelectric encoder, when the deviation value of the moving distances of the rigid leg and the flexible leg is larger than a preset threshold value, the rigid leg or the flexible leg is subjected to moving deviation rectification, the normalized application of the large-span portal crane deviation rectifying system in actual production can be obviously improved, the stable running index of a portal crane and the utilization rate of the portal crane deviation rectifying system are improved, and the use safety of the portal crane and the operation safety of field workers are effectively ensured.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (10)
1. The utility model provides a monitoring deviation correcting system of large-span gantry crane which characterized in that includes:
the encoder system comprises a rigid leg photoelectric encoder and a flexible leg photoelectric encoder, wherein the rigid leg photoelectric encoder is used for calculating the moving distance of a rigid leg of the gantry crane, and the flexible leg photoelectric encoder is used for calculating the moving distance of a flexible leg of the gantry crane;
the original vehicle control system is used for controlling the movement of the rigid legs and the flexible legs;
and the deviation rectifying control system is used for driving the original vehicle control system to work to perform movement rectification on the rigid leg or the flexible leg when the deviation value of the movement distance of the rigid leg and the movement distance of the flexible leg is greater than a preset threshold value based on the movement distance of the rigid leg calculated by the rigid leg photoelectric encoder and the movement distance of the flexible leg calculated by the flexible leg photoelectric encoder.
2. The monitoring deviation correcting system of the large-span gantry crane, as claimed in claim 1, further comprising a human-computer interface connected to the deviation correcting control system, wherein the human-computer interface is used for displaying the deviation value of the moving distance of the rigid leg and the flexible leg in real time, and when the deviation value of the moving distance of the rigid leg and the flexible leg is greater than a preset threshold value, the deviation correcting control system drives the original vehicle control system to operate, so as to control the movement of the rigid leg or the flexible leg, and perform movement deviation correction on the rigid leg or the flexible leg.
3. The monitoring deviation correcting system of the large-span gantry crane according to claim 1, wherein:
the original vehicle control system comprises a rigid leg controller and a flexible leg controller;
the rigid leg controller is used for controlling the movement of the rigid leg;
the flexible leg controller is used for controlling the movement of the flexible leg.
4. The monitoring deviation correcting system of the large-span gantry crane according to claim 3, wherein the deviation correcting control system is specifically configured to:
based on the moving distance of the rigid leg calculated by the rigid leg photoelectric encoder and the moving distance of the flexible leg calculated by the flexible leg photoelectric encoder, when the deviation value of the moving distance of the rigid leg and the flexible leg is greater than a preset threshold value, the relative position of the flexible leg and the rigid leg is judged:
when the flexible leg is behind the rigid leg, the flexible leg controller is driven to control the flexible leg to move forwards, and the flexible leg is prohibited from moving backwards;
when the flexible leg is in front of the right leg, the flexible leg controller is driven to control the flexible leg to move backwards, and the flexible leg is prohibited from moving forwards.
5. The monitoring deviation correcting system of the large-span gantry crane according to claim 1, wherein:
the rigid leg photoelectric encoder and the flexible leg photoelectric encoder are connected with a deviation rectification control system through a Profinet interface module;
the rigid leg photoelectric encoder and the flexible leg photoelectric encoder are both multi-turn absolute value encoders.
6. The monitoring deviation correcting system of the large-span gantry crane, as claimed in claim 1, further comprising an audible and visual alarm for alarming when the deviation value of the moving distance of the rigid leg and the flexible leg is greater than a preset threshold value.
7. The monitoring deviation correcting system of the large-span gantry crane according to claim 1, further comprising a rigid-flexible leg calibration switch and a plurality of electromagnetic induction blocks, wherein the rigid-flexible leg calibration switch is connected with the deviation correcting control system, the electromagnetic induction blocks are arranged at intervals along the track of the gantry crane to form calibration points, and the moving distances of the rigid legs and the flexible legs are calibrated by the rigid-flexible leg calibration switch each time the gantry crane passes through the calibration points.
8. A monitoring deviation rectifying method for a large-span portal crane is realized based on the system of claim 1, and is characterized by comprising the following steps:
the rigid leg photoelectric encoder calculates the moving distance of the rigid leg of the gantry crane;
the flexible leg photoelectric encoder calculates the moving distance of the flexible leg of the gantry crane;
based on the moving distance of the rigid leg calculated by the rigid leg photoelectric encoder and the moving distance of the flexible leg calculated by the flexible leg photoelectric encoder, the deviation correction control system calculates to obtain the deviation value of the moving distances of the rigid leg and the flexible leg;
and judging the obtained deviation value, if the deviation value is greater than a preset threshold value, driving the original vehicle control system to work by the deviation correction control system, and performing movement deviation correction on the rigid leg or the flexible leg, otherwise, not performing processing.
9. The monitoring deviation rectifying method of the large-span gantry crane according to claim 8, wherein the obtained deviation value is judged, if the deviation value is larger than a preset threshold, the deviation rectifying control system drives the original vehicle control system to work, and the rigid leg or the flexible leg is subjected to moving deviation rectifying, and the method comprises the following specific steps:
judging the obtained deviation value, if the deviation value is greater than a preset threshold value, judging the relative positions of the flexible leg and the rigid leg:
when the flexible leg is behind the rigid leg, the deviation correcting control system drives the flexible leg controller to control the flexible leg to move forwards, and the flexible leg is prohibited to move backwards;
when the flexible leg is in front of the rigid leg, the deviation correction control system drives the flexible leg controller to control the flexible leg to move backwards, and forbids the flexible leg to move forwards.
10. The monitoring deviation rectifying method for the large-span gantry crane according to claim 8, wherein:
the rigid leg photoelectric encoder and the flexible leg photoelectric encoder are connected with a deviation rectification control system through a Profinet interface module;
the rigid leg photoelectric encoder and the flexible leg photoelectric encoder are both multi-turn absolute value encoders.
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Application publication date: 20201016 |