CN112249884A - Steel wire rope pre-tightening control device and method of four-rope grab crane - Google Patents
Steel wire rope pre-tightening control device and method of four-rope grab crane Download PDFInfo
- Publication number
- CN112249884A CN112249884A CN202011187738.5A CN202011187738A CN112249884A CN 112249884 A CN112249884 A CN 112249884A CN 202011187738 A CN202011187738 A CN 202011187738A CN 112249884 A CN112249884 A CN 112249884A
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- Prior art keywords
- wire rope
- steel wire
- rope
- controller
- grab
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Classifications
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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
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/12—Grabs actuated by two or more ropes
- B66C3/125—Devices for control
-
- 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
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- 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
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/14—Grabs opened or closed by driving motors thereon
- B66C3/18—Grabs opened or closed by driving motors thereon by electric motors
Abstract
The invention relates to the technical field of cranes and discloses a steel wire rope pre-tightening control device and a steel wire rope pre-tightening control method for a four-rope grab bucket crane, wherein the device comprises a detection mechanism used for detecting physical parameters of a grab bucket; the driving mechanism comprises a first driving assembly and a second driving assembly, the first driving assembly is connected with a first winding drum of the crane and used for driving a lifting steel wire rope on the first winding drum, and the second driving assembly is connected with a second winding drum of the crane and used for driving an opening and closing steel wire rope on the second winding drum; and the controller is respectively connected with the detection mechanism and the driving mechanism, and when the grab bucket is in a blanking state, the controller controls the driving mechanism to enable the lifting steel wire rope to reach a pre-tightening state. The invention solves the problems that when the conventional four-rope grab bucket grabs materials to be closed, the lifting steel wire rope and the opening and closing steel wire rope cannot automatically keep a synchronous tightening state, so that the working efficiency is low, the steel wire ropes are stressed unevenly, and the service life is short.
Description
Technical Field
The invention relates to the technical field of cranes, in particular to a steel wire rope pre-tightening control device and method for a four-rope grab bucket crane.
Background
The four-rope grab bucket crane is widely applied to various industries, in particular to bulk material yards such as coal, ore, ash, limestone and the like. Four rope grab bucket mainly includes: two sets of wire rope, a set of lift wire rope is used for going up and down the grab bucket, and another group's switching wire rope is used for connecting two lamella grab buckets and carries out switching control, and in order to improve the full rate of grabbing when grabbing the material, the grab bucket often dashes towards the material with faster speed when descending, and inside the material of makeing into, at this moment, lift wire rope and switching wire rope can be in complete laxity state. In the process of closing the four-rope grab bucket, the opening and closing motor drives the opening and closing steel wire rope to rise, and the lifting steel wire rope keeps static to form the closing action of the grab bucket. After the bucket closing action is finished, the opening and closing steel wire rope is tightened and stressed, and the lifting steel wire rope is still in a loose state. When the material is taken and the material is ready to rise, the lifting steel wire rope and the opening and closing steel wire rope are generally manually adjusted to be synchronously tightened and then rise after being balanced. Or in the process of rising and suspending, the loosened lifting steel wire rope suddenly accelerates to catch up with the tight opening and closing steel wire rope, and after synchronous stress balance is achieved, the speed is kept to rise uniformly. No matter which mode, when grabbing the material and closing, lift wire rope and switching wire rope can not keep synchronous tension state automatically, all can reduce the work efficiency that the grab bucket promoted, and the wire rope atress is inhomogeneous, has reduced wire rope's life.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides the steel wire rope pre-tightening control device of the four-rope grab crane, when the grab is closed, the lifting steel wire rope and the opening and closing steel wire rope automatically keep a synchronous tightening state, the working efficiency is high, the stress of the steel wire rope is uniform, and the service life of the steel wire rope is prolonged.
In one aspect, the present invention provides a wire rope pre-tightening control device for a four-rope grab crane, comprising: the detection mechanism is used for detecting physical parameters of the grab bucket; the driving mechanism comprises a first driving assembly and a second driving assembly, the first driving assembly is connected with a first winding drum of the crane and used for driving a lifting steel wire rope on the first winding drum, and the second driving assembly is connected with a second winding drum of the crane and used for driving an opening and closing steel wire rope on the second winding drum; a controller, the controller being connected to the detection mechanism and the drive mechanism, respectively, and the controller being configured to: the physical parameters correspond to that the grab bucket is in a blanking state, and the controller controls the driving mechanism to enable the lifting steel wire rope to reach a pre-tightening state.
According to one embodiment of the invention, the detection mechanism comprises a weight sensor, a transmitter and a weighing instrument, the weight sensor is arranged on a frame of the crane, the transmitter is connected with the weight sensor, and the weighing instrument is respectively connected with the transmitter and the controller and used for judging the position state of the grab bucket according to the weight value detected by the weight sensor.
According to one embodiment of the invention, the detection mechanism further comprises a wireless transceiver, which is connected to the transmitter and the weighing instrument, respectively.
According to one embodiment of the invention, the position states of the grapple comprise a suspended state and a blanking state.
According to an embodiment of the present invention, the first driving assembly includes a first frequency converter, a first motor, and a first rotary encoder, the first frequency converter is connected to the controller, the first motor is respectively connected to the first winding drum and the first frequency converter, and the first rotary encoder is respectively connected to a main shaft of the first motor and the first frequency converter, and is configured to detect a displacement of the lifting steel wire rope.
According to an embodiment of the present invention, the second driving assembly includes a second frequency converter, a second motor, and a second rotary encoder, the second frequency converter is connected to the controller, the second motor is respectively connected to the second winding drum and the second frequency converter, and the second rotary encoder is respectively connected to a spindle of the second motor and the second frequency converter, and is configured to detect a displacement of the opening and closing wire rope.
According to one embodiment of the invention, the controller is a PLC controller.
In another aspect, the present invention provides a method for controlling a steel wire rope pretensioning control device of a four-rope grab crane, comprising: detecting the position state of the grab bucket through the detection mechanism; the driving mechanism drives the lifting steel wire rope and the opening and closing steel wire rope to control the lifting and the opening and closing of the grab bucket; and when the grab bucket starts to grab materials, the lifting steel wire rope is enabled to reach a pre-tightening state.
According to one embodiment of the invention, the method of pre-tensioning the hoist rope comprises: the controller drives the first driving assembly to apply set pretightening force to the lifting steel wire rope, so that the lifting steel wire rope is lifted and pretightened.
One or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: the device realizes automatic control of the lifting steel wire rope and the opening and closing steel wire rope of the grab bucket through the controller, improves the working efficiency of the grab bucket, synchronously pre-tightens the lifting steel wire rope through the first driving assembly in the process of driving the opening and closing steel wire rope to ascend through the second driving assembly to enable the lifting steel wire rope and the opening and closing steel wire rope to be kept in a tight state when the grab bucket is closed, is uniformly stressed synchronously, and prolongs the service life of the steel wire rope.
Drawings
Fig. 1 is a block diagram of a pretensioning control device according to an embodiment of the present invention.
Fig. 2 is a block diagram of a detection mechanism according to an embodiment of the present invention.
Fig. 3 is a layout diagram of a weight sensor according to an embodiment of the present invention.
Fig. 4 is a block diagram of a driving mechanism according to an embodiment of the present invention.
The reference numbers illustrate:
1. a controller; 2. a detection mechanism; 201. a weight sensor; 202. a transmitter; 203. a wireless transceiver; 204. a weighing instrument; 3. a first drive assembly; 301. a first frequency converter; 302. a first motor; 303. a first rotary encoder; 4. a second drive assembly; 401. a second frequency converter; 402. a second motor; 403. a second rotary encoder; 501. an upper frame; 502. a lower layer frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
According to an embodiment of the present invention, as shown in fig. 1, a steel wire rope pre-tightening control device of a four-rope grab crane (hereinafter, referred to as a crane) mainly includes: detection mechanism 2, drive mechanism and controller 1.
In the embodiment, the detection mechanism is mainly used for detecting the physical parameters of the grab bucket and judging the position state of the grab bucket according to the physical parameters, wherein the physical parameters comprise weight; the position states comprise a suspension state of the grab bucket in the air and a blanking state of the grab bucket falling on the material.
In some embodiments, the position state of the grab bucket can also be determined by detecting the displacement of the grab bucket through a rotary encoder, and specifically, the position state can be determined by detecting the displacement of a steel wire rope connected with the grab bucket through the rotary encoder, and determining the displacement of the grab bucket.
The driving mechanism comprises a first driving assembly 3 and a second driving assembly 4, the first driving assembly is connected with a first reel of the crane and used for driving a lifting steel wire rope on the first reel to do lifting motion, and the second driving assembly is connected with a second reel of the crane and used for driving an opening and closing steel wire rope on the second reel to control the opening and closing of the grab bucket.
As a further improvement of the present invention, as shown in fig. 2 and fig. 3, the detecting mechanism 2 mainly includes a weight sensor 201, a transmitter 202, a wireless transceiver 203 and a weighing instrument 204, the weight sensor 201 is disposed on the frame of the crane, specifically, the weight sensor 201 is disposed between an upper frame 501 and a lower frame 502 of the crane, and a hoisting mechanism is disposed on the upper frame 501 and mainly includes a first reel and a second reel, the specific structure of which is conventional in the art, and will not be described in detail herein.
The weight sensor 201 is mainly used for acquiring the weight of the components on the upper frame 501, and the components on the upper frame 501 include: the support, first reel, the second reel, lift wire rope, switching wire rope and grab bucket etc. when the grab bucket is in the sky, what weight sensor gathered is the whole weight of above-mentioned component, when the grab bucket falls to the material surface, because the grab bucket is supported by the material, consequently, weight sensor's weight value can change, generally the weight value that is unsettled state is greater than the weight value of blanking state, through this change, can judge that the grab bucket is in unsettled state or is located the state on material surface. And the state of the material surface is the blanking state, and the material can be grabbed in the blanking state.
As shown in fig. 2, the transmitter 202 is connected to the weight sensor 201, the wireless transceiver 203 is connected to the transmitter 202, the weighing instrument 204 is connected to the wireless transceiver 203 and the controller 1, the weight sensor 201 transmits the detected weight value to the weighing instrument 204 in a wireless transmission manner for display, so as to facilitate direct observation, and transmits the detected weight value to the controller 1 again through the weighing instrument, and the controller can determine the position state of the grab bucket according to the weight value detected by the weight sensor, and the determination method is as described above.
As a further improvement of the present invention, as shown in fig. 4, the controller of the present invention is preferably a PLC controller, but may be other control systems, such as a single chip microcomputer, and the present invention is not particularly limited.
In this embodiment, the first driving assembly 3 includes a first frequency converter 301, a first motor 302 and a first rotary encoder 303, the first frequency converter 301 is connected to the controller 1 through a Profibus fieldbus, the first motor 302 is respectively connected to the first reel and the first frequency converter 301, and the first rotary encoder is respectively connected to a spindle of the first motor and the first frequency converter for detecting the displacement of the lifting steel wire rope.
The second driving assembly 4 comprises a second frequency converter 401, a second motor 402 and a second rotary encoder 403, the second frequency converter 401 is connected with the controller 1 through a Profibus field bus, the second motor 402 is respectively connected with the second winding drum and the second frequency converter 401, and the second rotary encoder is respectively connected with a main shaft of the second motor and the second frequency converter and used for detecting the displacement of the opening and closing steel wire rope.
It can be understood that the invention uses the PLC as a core control device, uses two rotary encoders as position detection elements, uses the first frequency converter and the second frequency converter as speed regulation devices, uses a Profibus field bus to connect the PLC and the two speed regulation frequency converters into a control drive network, and uses the first motor and the second motor as drive devices for opening and closing the steel wire rope and lifting the steel wire rope to form a control drive system.
Based on the above embodiment, the control method of the steel wire rope pre-tightening control device of the four-rope grab crane mainly comprises the following steps: the detection mechanism is used for judging whether the grab bucket falls on the material and is in a material taking state, when the grab bucket is judged to fall on the material and begins to take the material, the controller controls the second motor to drive the opening and closing steel wire rope, so that the first motor is automatically distributed with a small torque through the first frequency converter in the closing process of the grab bucket, the torque is a preset pretightening force preset in the controller, and the lifting steel wire rope slowly rises and is kept in the pretightening state. When the grab bucket finishes taking materials, the first motor and the second motor synchronously ascend, the opening and closing steel wire rope and the lifting steel wire rope are in a tight state, the opening and closing steel wire rope and the lifting steel wire rope basically keep synchronous, and the stress is uniform.
Therefore, the device has simple structure, easy realization and good universality, and is suitable for most of the prior four-rope grab cranes; the control method can effectively improve the working efficiency of the crane, optimize the working state of the steel wire rope and greatly prolong the service life of the steel wire rope.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A wire rope pretension control device of a four-rope grab crane, characterized by comprising:
the detection mechanism is used for detecting physical parameters of the grab bucket;
the driving mechanism comprises a first driving assembly and a second driving assembly, the first driving assembly is connected with a first winding drum of the crane and used for driving a lifting steel wire rope on the first winding drum, and the second driving assembly is connected with a second winding drum of the crane and used for driving an opening and closing steel wire rope on the second winding drum;
a controller, the controller being connected to the detection mechanism and the drive mechanism, respectively, and the controller being configured to: the physical parameters correspond to that the grab bucket is in a blanking state, and the controller controls the driving mechanism to enable the lifting steel wire rope to reach a pre-tightening state.
2. The steel wire rope pre-tightening control device of the four-rope grab crane according to claim 1, wherein the detection mechanism comprises a weight sensor, a transmitter and a weighing instrument, the weight sensor is arranged on a frame of the crane, the transmitter is connected with the weight sensor, and the weighing instrument is respectively connected with the transmitter and the controller and used for judging the position state of the grab bucket according to the weight value detected by the weight sensor.
3. The apparatus of claim 2, wherein the detection mechanism further comprises a wireless transceiver, the wireless transceiver being connected to the transmitter and the weighing instrument, respectively.
4. The wire rope pretension control device of a four-rope grab crane according to claim 2, wherein the position state of the grab comprises a suspended state and a blanking state.
5. The steel wire rope pre-tightening control device of the four-rope grab crane according to claim 1, wherein the first driving assembly comprises a first frequency converter, a first motor and a first rotary encoder, the first frequency converter is connected with the controller, the first motor is respectively connected with the first winding drum and the first frequency converter, and the first rotary encoder is respectively connected with a main shaft of the first motor and the first frequency converter and is used for detecting the displacement of the lifting steel wire rope.
6. The steel wire rope pre-tightening control device of the four-rope grab crane according to claim 1, wherein the second driving assembly comprises a second frequency converter, a second motor and a second rotary encoder, the second frequency converter is connected with the controller, the second motor is respectively connected with the second winding drum and the second frequency converter, and the second rotary encoder is respectively connected with a main shaft of the second motor and the second frequency converter and used for detecting the displacement of the opening and closing steel wire rope.
7. A control device for pre-tensioning steel wire ropes of a four-rope grab crane according to any one of claims 1-6, characterised in that the controller is a PLC controller.
8. A method of controlling a wire rope pretension control device of a four-rope grab crane according to any of claims 1-7, comprising:
detecting the position state of the grab bucket through the detection mechanism;
the driving mechanism drives the lifting steel wire rope and the opening and closing steel wire rope to control the lifting and the opening and closing of the grab bucket;
and when the grab bucket starts to grab materials, the lifting steel wire rope is enabled to reach a pre-tightening state.
9. The control method of claim 8, wherein the method of pre-tensioning the hoist rope comprises: the controller drives the first driving assembly to apply set pretightening force to the lifting steel wire rope, so that the lifting steel wire rope is lifted and pretightened.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011187738.5A CN112249884B (en) | 2020-10-29 | 2020-10-29 | Steel wire rope pre-tightening control device and method for four-rope grab crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011187738.5A CN112249884B (en) | 2020-10-29 | 2020-10-29 | Steel wire rope pre-tightening control device and method for four-rope grab crane |
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| Publication Number | Publication Date |
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| CN112249884A true CN112249884A (en) | 2021-01-22 |
| CN112249884B CN112249884B (en) | 2023-05-12 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101559904A (en) * | 2009-04-28 | 2009-10-21 | 深圳市库马克新技术股份有限公司 | Coordination control system for lifting, falling, opening and closing crane grab bucket and control method thereof |
| KR20120081337A (en) * | 2011-01-11 | 2012-07-19 | 주식회사 흥성산업 | Apparatus for controling wire drum/cable reel and method therefor |
| CN203255883U (en) * | 2013-04-12 | 2013-10-30 | 宝钢集团新疆八一钢铁有限公司 | Tensioning device of grab bucket land wheel steel wire rope |
| CN204138173U (en) * | 2014-10-10 | 2015-02-04 | 武汉理工大学 | A kind of four rope grab is automatically heavy grabs device |
| CN205419536U (en) * | 2016-03-09 | 2016-08-03 | 宁波钢铁有限公司 | Solve automatic bottom detection's of crane grab device |
| CN207827710U (en) * | 2017-09-15 | 2018-09-07 | 宁波钢铁有限公司 | A kind of supplementary structure avoiding crane pawl bucket wire cable rupture |
-
2020
- 2020-10-29 CN CN202011187738.5A patent/CN112249884B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101559904A (en) * | 2009-04-28 | 2009-10-21 | 深圳市库马克新技术股份有限公司 | Coordination control system for lifting, falling, opening and closing crane grab bucket and control method thereof |
| KR20120081337A (en) * | 2011-01-11 | 2012-07-19 | 주식회사 흥성산업 | Apparatus for controling wire drum/cable reel and method therefor |
| CN203255883U (en) * | 2013-04-12 | 2013-10-30 | 宝钢集团新疆八一钢铁有限公司 | Tensioning device of grab bucket land wheel steel wire rope |
| CN204138173U (en) * | 2014-10-10 | 2015-02-04 | 武汉理工大学 | A kind of four rope grab is automatically heavy grabs device |
| CN205419536U (en) * | 2016-03-09 | 2016-08-03 | 宁波钢铁有限公司 | Solve automatic bottom detection's of crane grab device |
| CN207827710U (en) * | 2017-09-15 | 2018-09-07 | 宁波钢铁有限公司 | A kind of supplementary structure avoiding crane pawl bucket wire cable rupture |
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| Publication number | Publication date |
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| CN112249884B (en) | 2023-05-12 |
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