CN112320585A - Large-span unmanned crane track deviation rectifying device and method - Google Patents
Large-span unmanned crane track deviation rectifying device and method Download PDFInfo
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- CN112320585A CN112320585A CN202011175401.2A CN202011175401A CN112320585A CN 112320585 A CN112320585 A CN 112320585A CN 202011175401 A CN202011175401 A CN 202011175401A CN 112320585 A CN112320585 A CN 112320585A
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- cart
- motors
- frequency converter
- unmanned crane
- span
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000001133 acceleration Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 238000012937 correction Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
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
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/16—Travelling gear incorporated in or fitted to trolleys or cranes with means for maintaining alignment between wheels and track
-
- 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
-
- 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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/18—Travelling gear incorporated in or fitted to trolleys or cranes with means for locking trolleys or cranes to runways or tracks to prevent inadvertent movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/085—Control actuators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention belongs to the technical field of unmanned crane control, and discloses a large-span unmanned crane track deviation correcting device and a deviation correcting method thereof.A crane cart realizes front-rear driving by sharing one frequency converter by two motors at front wheels and one frequency converter by two motors at rear wheels, the cart realizes left-right driving by sharing one frequency converter by two motors on the same track at left and right sides, and a cart PLC controls a corresponding frequency converter to switch the cart between front-rear driving and left-right driving modes in the process of positioning the cart; the cart undergoes acceleration and deceleration phases in performing the positioning. The unmanned crane is optimized in the aspects of structure and electrical control, the two motors on the same track on the left side and the right side of the cart are controlled in a unified mode at proper time, the correction is performed in the positioning process, the positioning efficiency of the large-span unmanned crane is not influenced, the fact that the two sides of the cart have no front-back deviation is guaranteed, the correction effect is good, and the process is simple to achieve.
Description
Technical Field
The invention relates to the field of unmanned crane control, in particular to a large-span unmanned crane track deviation rectifying device and a deviation rectifying method thereof.
Background
Traditional hoist adopts the mode of balanced wheelset from the angle of machinery, guarantee that the big car is left and right sides wheel front and back deviation can not be too big, ordinary overhead traveling crane does not need extra correction basically, but the hoist of large-span is like multi-functional electrolytic aluminum car etc. at the big car walking in-process, wheel deviation around can appearing about the big car, although there is the mode of machinery such as stabilizer to guarantee that the deviation can not be very big, nevertheless because the span is big, little deviation also can arouse the positional deviation of hoist to be enlargied, can influence finally the hoist to the hanging of work piece and get.
At present, large-span cranes are basically operated manually, and the deviation can be corrected through manual intervention during manual operation, but with industrial development, the large-span cranes tend to realize unmanned automatic control, so that the rail deviation correction in the traveling direction of a cart is a key problem to be solved at present.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a large-span unmanned crane track deviation correcting device and a method for correcting a track by adopting the device, and aims to solve the problem of deviation caused by front and back inconsistency of left and right wheels of a large-span unmanned crane in the actual working process.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a big span unmanned crane track deviation correcting device, two motors of cart front wheel of hoist share a converter, two motors of rear wheel share a converter, two motors on the same track of cart left and right sides share a converter, and the cart both sides are provided with position detection device respectively.
A method for correcting the error by adopting the large-span unmanned crane track error correcting device comprises the steps that a crane cart realizes front-rear driving by sharing one frequency converter for two motors at the front wheel and one frequency converter for two motors at the rear wheel, the cart realizes left-right driving by sharing one frequency converter for the two motors on the same track at the left side and the right side, and a cart PLC controls the corresponding frequency converters to switch the cart between the front-rear driving mode and the left-right driving mode in the process of positioning the cart; the cart undergoes acceleration and deceleration phases in performing the positioning.
Further, the large vehicle has a constant speed stage between an acceleration stage and a deceleration stage in the positioning process.
Furthermore, a speed V value in the process of decelerating the cart is preset, and the time when the cart is switched from front-back driving to left-right driving is the time when the cart decelerates to be less than the set speed V.
And furthermore, the PLC respectively controls the frequency converters on the left side and the right side of the cart to drive the motors, so that when any one side of the cart reaches the window range, the motor band-type brake on the side is stopped for waiting until the other side reaches the window range, and then the cart is stopped.
Further, the position detecting means is a position sensor.
Compared with the prior art, the invention has the beneficial effects that:
the unmanned crane is optimized in the aspects of structure and electrical control, the two motors on the same rail on the left side and the right side of the cart are controlled in a unified mode at proper time, the correction is performed in the positioning process, the positioning efficiency of the large-span unmanned crane is not influenced, the phenomenon that the two sides of the cart have no front-back deviation is guaranteed, the correction effect is good, the process is simple to realize, and finally the accuracy of the lifting appliance for lifting workpieces in the working process of the large-span unmanned crane meets the operation requirement.
Drawings
FIG. 1 is a connection diagram of a frequency converter and a motor of a cart in embodiment 1;
fig. 2 is a connection relationship diagram of a cart frequency converter and a motor in embodiment 2.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
Example 1
The large-span unmanned crane track deviation rectifying method is carried out by adopting a large-span unmanned crane track deviation rectifying device, wherein the deviation rectifying device comprises the following steps: the cart realizes front and rear driving by enabling two motors of a front wheel to share one frequency converter and two motors of a rear wheel to share one frequency converter, realizes left and right driving by enabling two motors on the same track on the left and right sides to share one frequency converter, and is provided with position detection devices on two sides of the cart respectively; the cart undergoes acceleration and deceleration stages in the positioning process, and the deviation rectifying method comprises the following steps: and in the process of positioning the cart, the cart PLC controls the corresponding frequency converter to switch the cart between a front-back driving mode and a left-right driving mode.
Specifically, the positioning function block formed by a PLC program algorithm is built in the unmanned crane PLC to control the unmanned crane to perform positioning (the design of the positioning function block may refer to the patent application text of the unmanned crane positioning control method with application number 2020110773302 of the present company), and then the PLC controls the motor of the cart to switch between the front-rear driving mode and the left-right driving mode according to the real-time situation during the positioning process of the unmanned crane.
As shown in fig. 1, in this embodiment, two motors on the same track on the left and right sides of the unmanned crane cart share one frequency converter, which is that a frequency converter 3 and a frequency converter 4 are added on the basis of an original frequency converter 1 and an original frequency converter 2 of the unmanned crane cart, so that a left-right driving mode is added on a traditional front-rear driving mode of the cart. When driving front and back, two motors of the front wheel of the crane share the frequency converter 1 to drive, and two motors of the rear wheel share the frequency converter 2 to drive; when the crane is driven left and right, two motors on the left side of the crane cart share the frequency converter 3 for driving, and two motors on the right side share the frequency converter 4 for driving. The front-rear driving and left-right driving frequency converters cannot work simultaneously, namely only the front-rear driving frequency converter 1 and the front-rear driving frequency converter 2 can work at the same time, or only the left-right driving frequency converter 3 and the left-right driving frequency converter 4 can work.
The position detection devices on the left and right sides of the cart are preferably position sensors, as shown by position sensor 1 and position sensor 2 in fig. 1, respectively.
When the PLC receives a positioning starting instruction in the positioning process of the large-span unmanned crane, the PLC controls the front-rear driving frequency converter 1 and the frequency converter 2 to start and drive the front wheel motor and the rear wheel motor of the crane by adopting a positioning function block, so that the speed of the crane of the unmanned crane reaches the minimum speed VminThen, the acceleration a is determined according to the maximum output capacity of the frequency convertermAccelerating until the speed of the unmanned crane reaches the maximum speed V that the crane and the frequency converter can allow the crane to runmaxThen, keeping the maximum speed to run to the target position at a constant speed; when the difference value between the current position and the target position of the crane is smaller than the set deceleration distance SlimitAnd the positioning function block controls the front-rear driving frequency converter 1 and the frequency converter 2 to start to decelerate.
Presetting a speed V value in the process of decelerating the cart, and in the process of decelerating, when the speed of the cart is lower than the preset speed V value, controlling the cart to be switched from a front-rear driving mode to a left-right driving mode by a PLC (programmable logic controller), namely, after the PLC stops a frequency converter 1 and a frequency converter 2 which are driven in front and rear, calling two positioning function blocks to respectively control the two frequency converters which are driven in left and right, namely, the first positioning function block controls a frequency converter 3 of a left motor by adopting data of a position sensor 1 on the left side of the cart, and the second positioning function block controls a frequency converter 2 of a right motor by adopting data of a position sensor 2 on the right side of the cart; and at the moment, the left side and the right side of the cart of the unmanned crane are independently controlled, when the position sensor on any one of the left side and the right side of the cart detects that the side reaches the window range, the PLC controls the side frequency converter to stop, and stops the motor brake for waiting until the other side also reaches the window range, so that the whole positioning and deviation rectifying process is completed.
Example 2
The present embodiment is different from embodiment 1 in that: the front-back driving mode and the left-right driving mode of the large-span unmanned crane cart only need to use two frequency converters, two motors which are driven front and back can be adopted during left-right driving through electrical transformation, and switching between the front-back driving mode and the left-right driving mode is mainly realized by controlling a contactor or a circuit breaker through a PLC (programmable logic controller), wherein the specific realization process is shown in figure 2, in the front-back driving mode, the PLC controls a contactor S1 to be disconnected with a contactor S3, when a contactor S2 is closed with a contactor S4, the frequency converter 1 controls two motors in front of the cart, and the frequency converter 2 controls two motors in back of the cart; in the left-right driving mode, the PLC controls the contactor S1 to be disconnected with the contactor S3, the contactor S2 to be closed with the contactor S4, the frequency converter 1 controls two motors on the left side of the cart, and the frequency converter 2 controls two motors on the right side of the cart.
When the unmanned crane decelerates to a preset speed V, the PLC controls the contactor S1 to be disconnected with the contactor S3, the contactor S2 is closed with the contactor S4, meanwhile, the first positioning function block is called to control the frequency converter 1, the second positioning function block is called to control the frequency converter 2, and the unmanned crane stops when both sides of the crane reach the range of the positioning window to finish positioning.
The correction method is simple in implementation process, correction is performed in the positioning process, the positioning efficiency of the large-span unmanned crane is not affected, the correction effect is good, and the accuracy of the lifting appliance for lifting the workpiece in the working process of the large-span unmanned crane can be ensured to meet the operation requirement. The deviation correcting device and the deviation correcting method are verified on the actual project site, the operation feedback condition is excellent, and the method is worthy of being popularized widely.
It should be understood that the above examples are only for clearly illustrating the technical solutions of the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (6)
1. The utility model provides a big span unmanned crane track deviation correcting device, two motors of cart front wheel of hoist share a converter, two motors of rear wheel share a converter, its characterized in that, two motors on the same track of cart left and right sides share a converter, and the cart both sides are provided with position detection device respectively.
2. A method for correcting the track deviation of a large-span unmanned crane according to claim 1, wherein a crane cart realizes front-rear driving by sharing a frequency converter for two motors at the front wheel and a frequency converter for two motors at the rear wheel, and is characterized in that the cart realizes left-right driving by sharing a frequency converter for two motors on the same track at the left side and the right side, and a cart PLC controls the corresponding frequency converters to switch the cart between front-rear driving and left-right driving modes in the process of positioning the cart; the cart undergoes acceleration and deceleration phases in performing the positioning.
3. The method for rectifying deviation of track of unmanned crane with large span according to claim 2, wherein the positioning of the large vehicle is performed by a constant speed stage between the acceleration stage and the deceleration stage.
4. The method for rectifying deviation of large-span unmanned crane track according to claim 2 or 3, wherein a speed V value in the deceleration process of the cart is preset, and the time when the cart is switched from front-rear driving to left-right driving is the time when the cart is decelerated to be less than the set speed V.
5. The method for rectifying the deviation of the large-span unmanned crane track according to claim 4, wherein the PLC respectively controls the left and right frequency converters of the cart to drive the motors, so that the motor at any side of the cart is braked and stopped waiting when reaching the window range until the other side of the cart stops after reaching the window range.
6. The method for rectifying deviation of track of unmanned crane with large span according to claim 2, wherein the position detecting device is a position sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011175401.2A CN112320585B (en) | 2020-10-28 | 2020-10-28 | Track deviation correcting device and method for large-span unmanned crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011175401.2A CN112320585B (en) | 2020-10-28 | 2020-10-28 | Track deviation correcting device and method for large-span unmanned crane |
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| Publication Number | Publication Date |
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| CN112320585A true CN112320585A (en) | 2021-02-05 |
| CN112320585B CN112320585B (en) | 2023-06-20 |
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| CN202011175401.2A Active CN112320585B (en) | 2020-10-28 | 2020-10-28 | Track deviation correcting device and method for large-span unmanned crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115676655A (en) * | 2022-10-31 | 2023-02-03 | 徐州建机工程机械有限公司 | Tower crane rotation amplitude-changing all-in-one machine and control method thereof |
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| CN210150621U (en) * | 2019-06-27 | 2020-03-17 | 六安远大住宅工业有限公司 | Intelligent double-beam crane |
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|---|---|---|---|---|
| CN101143684A (en) * | 2007-06-22 | 2008-03-19 | 王钢 | Bridge type crane cart driving scheme |
| CN101704474A (en) * | 2009-11-11 | 2010-05-12 | 甘肃省电力公司刘家峡水电厂 | 400-ton bridge crane end beam movement difference correcting system |
| CN102211739A (en) * | 2011-05-26 | 2011-10-12 | 河南省郑起起重设备有限公司 | Basic programming system (BPS) automatic deflection correction method and system for crane cart |
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| CN112320585B (en) | 2023-06-20 |
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Address after: 412000 Room 401, F18 Building, Phase 6, Xinma Power Innovation Park, No. 899, Xianyue Road, Majiahe Street, Tianyuan District, Zhuzhou City, Hunan Province Patentee after: HUNAN TIANQIAO JIACHENG INTELLIGENT TECHNOLOGY Co.,Ltd. Country or region after: Zhong Guo Address before: 412000 R & D plant 308, phase C, Xinma power innovation park, 899 Xianyue Ring Road, Tianyuan District, Zhuzhou City, Hunan Province Patentee before: HUNAN TIANQIAO JIACHENG INTELLIGENT TECHNOLOGY Co.,Ltd. Country or region before: Zhong Guo |