CN112320585B - Track deviation correcting device and method for large-span unmanned crane - Google Patents
Track deviation correcting device and method for large-span unmanned crane Download PDFInfo
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- CN112320585B CN112320585B CN202011175401.2A CN202011175401A CN112320585B CN 112320585 B CN112320585 B CN 112320585B CN 202011175401 A CN202011175401 A CN 202011175401A CN 112320585 B CN112320585 B CN 112320585B
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- cart
- frequency converter
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- crane
- positioning
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000001133 acceleration Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 abstract description 10
- 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
- 239000004411 aluminium Substances 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
- 238000005868 electrolysis reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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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
- 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
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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
- B66C13/16—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
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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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
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, wherein a crane cart is driven back and forth by sharing one frequency converter by two motors of a front wheel and one frequency converter by two motors of a rear wheel, the cart is driven left and right by sharing one frequency converter by two motors on the same track on the left side and the right side, and a cart PLC (programmable logic controller) controls the corresponding frequency converter to switch the cart between a back driving mode and a left driving mode and a right driving mode in the process of positioning the cart; the cart undergoes acceleration and deceleration phases during the positioning process. The unmanned crane is optimized in terms of structure and electric control, the two motors on the same track on the left side and the right side of the cart are uniformly controlled at proper time, deviation correction is performed in the positioning process, the positioning efficiency of the large-span unmanned crane is not affected, the front-back deviation phenomenon on the two sides of the cart is avoided, the deviation correction effect is good, and the process is simple to realize.
Description
Technical Field
The invention relates to the field of unmanned crane control, in particular to a large-span unmanned crane track deviation correcting device and a deviation correcting method thereof.
Background
The traditional crane adopts the mode of balance wheel group from the angle of machinery, guarantees that the wheel front and back deviation can not be too big about the cart, and ordinary overhead traveling crane basically does not need extra rectifying, but the wheel front and back deviation can appear about the cart like multi-functional electrolysis aluminium car etc. in cart walking process, and though there is the mode of machinery such as balance wheel to guarantee that the deviation can not be very big, but because the span is big, the deviation of little also can cause the position deviation of hoist to be amplified, can finally influence hoist to the hoist of work piece.
At present, the large-span crane is basically manually operated, and the deviation can be corrected through manual intervention during manual operation, but along with industrial development, unmanned automatic control is required to be realized on the large-span crane, so that the track deviation correction in the travelling direction of the large-span crane 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 track deviation correcting device for a large-span unmanned crane, and simultaneously provides a method for carrying out track deviation correction by adopting the device so as to solve the deviation problem caused by inconsistent front and rear wheels of the large-span unmanned crane in the actual working process.
The aim of the invention is achieved by the following technical scheme:
a track deviation correcting device for a large-span unmanned crane is characterized in that two motors of a front wheel of a crane share a frequency converter, two motors of a rear wheel share a frequency converter, two motors on the same track on the left side and the right side of the crane share a frequency converter, and two sides of the crane are respectively provided with a position detecting device.
According to the method for correcting the deviation by adopting the large-span unmanned crane track deviation correcting device, a crane cart is driven back and forth by sharing one frequency converter by two motors of a front wheel and one frequency converter by two motors of a rear wheel, the cart is driven left and right by sharing one frequency converter by two motors on the same track on the left side and the right side, and a cart PLC (programmable logic controller) controls the corresponding frequency converter to switch the cart between a back driving mode and a left driving mode in the process of positioning the cart; the cart undergoes acceleration and deceleration phases during the positioning process.
Further, a constant speed stage is arranged between the acceleration stage and the deceleration stage in the process of positioning the cart.
Further, a speed V value in the deceleration process of the cart is preset, and the time when the cart is switched from front and rear drive to left and right drive is the time when the cart is decelerated to be smaller than the set speed V.
Still further, PLC controls the left and right sides converter of cart respectively and drives the motor, makes this side motor band-type brake shut down when the window scope is reached to arbitrary one side of cart wait, parks after the opposite side reaches the window scope.
Further, the position detecting device is a position sensor.
Compared with the prior art, the invention has the beneficial effects that:
the structure and the electrical control aspect optimize the unmanned crane, through carrying out unified control to two motors on the same track on the left side and the right side of the cart at proper time, deviation correction is carried out in the positioning process, the positioning efficiency of the large-span unmanned crane is not influenced, the front-back deviation phenomenon of the two sides of the cart is avoided, the deviation correction effect is good, the process is simple to realize, and finally, the lifting appliance in the working process of the large-span unmanned crane is ensured to be in accordance with the operation requirement on the lifting precision of the workpieces.
Drawings
Fig. 1 is a diagram showing a connection relationship between a cart frequency converter and a motor in embodiment 1;
fig. 2 is a diagram showing a connection relationship between a cart inverter and a motor in embodiment 2.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The utility model provides a large-span unmanned crane track deviation correcting method, it adopts large-span unmanned crane track deviation correcting device to carry out, in this deviation correcting device: the front wheel and the rear wheel share one frequency converter through two motors of the front wheel and one frequency converter through two motors of the rear wheel, the front wheel and the rear wheel are driven back and forth, the left wheel and the right wheel are driven left and right through two motors on the same track on the left side and the right side of the cart share one frequency converter, and meanwhile, the two sides of the cart are respectively provided with a position detection device; the cart undergoes acceleration and deceleration stages in the process of positioning, and the deviation correcting method comprises the following steps: in the process of positioning the cart, the cart PLC controls the corresponding frequency converter to enable the cart to be switched between a front-back driving mode and a left-right driving mode.
Specifically, a 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 can be specifically referred to patent application text of an unmanned crane positioning control method with the application number of 2020110773302 by the company), and then the PLC controls a motor of the cart to be switched between a front-rear driving mode and a left-right driving mode according to real-time conditions in 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 cart of the unmanned crane share one frequency converter, and the frequency converter 3 and the frequency converter 4 are added on the basis of the original frequency converter 1 and frequency converter 2 of the cart of the unmanned crane, so that the cart is increased in a left and right driving mode on the basis of a traditional front and rear driving mode. The front wheel and the rear wheel of the large car of the crane are driven by a common frequency converter 1 and the rear wheel of the large car is driven by a common frequency converter 2 during front and rear driving; and when the crane is driven left and right, two motors at the left side of the cart of the crane share the frequency converter 3 to drive, and two motors at the right side share the frequency converter 4 to drive. The front-back drive and the left-right drive can not work simultaneously, namely, only the front-back drive frequency converter 1 and the back-front drive frequency converter 2 can work at the same time, or only the left-right drive frequency converter 3 and the left-right drive 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.
In the process of executing positioning of the large-span unmanned crane, when a PLC (programmable logic controller) receives a positioning start instruction, a positioning function block is adopted to control a front-rear driving frequency converter 1 and a front-rear driving frequency converter 2 to start a front wheel motor and a rear wheel motor of a driving cart, so that the speed of the unmanned crane reaches a minimum speed V min Then, the acceleration a is determined according to the maximum output capacity of the frequency converter m Accelerating until the speed of the unmanned crane reaches the speed that the crane and the frequency converter can allow the crane to operateMaximum speed V max Then, keeping the maximum speed to run to the target position at a constant speed; when the difference between the current position and the target position of the crane is smaller than the set deceleration distance S limit And when the positioning function block controls the front-rear drive frequency converter 1 and the frequency converter 2 to start decelerating.
The method comprises the steps that a speed V value in a cart speed reducing process is preset, when the speed of the cart is lower than the preset speed V value in the speed reducing process, the PLC controls the cart to be switched into a left-right driving mode from a front-rear driving mode, namely, after the PLC stops a front-rear driving frequency converter 1 and a frequency converter 2, two positioning function blocks are called to respectively control the two frequency converters of the left-right driving, namely, a first positioning function block adopts data of a position sensor 1 on the left side of the cart to control a frequency converter 3 of a left motor, and a second positioning function block adopts data of a position sensor 2 on the right side of the cart to control the frequency converter 2 of the right motor; at the moment, the left side and the right side of the cart of the unmanned crane are independently controlled, when the position sensor of any one side of the cart detects that the side reaches the window range, the PLC controls the side frequency converter to stop, the motor band-type brake is stopped for waiting until the other side also reaches the window range, and then the whole positioning and deviation rectifying processes are completed.
Example 2
This embodiment differs 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 two frequency converters, through electric transformation, namely, the front-back driving two motors can be adopted in the left-right driving, the front-back driving mode and the left-right driving mode are switched mainly through a PLC (programmable logic controller) control contactor or a circuit breaker, the specific implementation process is shown in fig. 2, in the front-back driving mode, the PLC control contactor S1 is disconnected from the contactor S3, when the contactor S2 is closed with the contactor S4, the frequency converter 1 controls the front two motors of the cart, and the frequency converter 2 controls the rear two motors of the cart; in the left-right driving mode, the PLC controls the contactor S1 to be disconnected from 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 from the contactor S3, the contactor S2 to be 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 parking is finished until the two sides of the cart reach the range of the positioning window.
The correction method is simple in implementation process, corrects in the positioning process, does not influence the positioning efficiency of the large-span unmanned crane, has a good correction effect, and can ensure that the lifting appliance can lift the workpiece with the accuracy meeting the operation requirement in the working process of the large-span unmanned crane. The correction device and the correction method have been verified on the actual project site, have excellent running feedback condition and are worth popularizing.
It is apparent that the above examples are only examples for clearly illustrating the technical solution of the present invention, and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (4)
1. A method for correcting deviation of a large-span unmanned crane track is characterized in that a crane cart realizes front-back driving by sharing one frequency converter by two motors of a front wheel and one frequency converter by two motors of a rear wheel, and the method is characterized in that the cart realizes left-right driving by sharing one frequency converter by two motors on the same track on the left side and the right side, and a cart PLC (programmable logic controller) controls the corresponding frequency converter to enable the cart to be switched between a front-back driving mode and a left-right driving mode in the process of positioning the cart; position detection devices are respectively arranged on two sides of the cart; the cart undergoes acceleration and deceleration stages during the positioning process;
the speed V value in the deceleration process of the cart is preset, and the time for switching the cart from front and rear drive to left and right drive is the time for decelerating the cart to be smaller than the set speed V.
2. The method for rectifying the orbit of the large-span unmanned crane according to claim 1, wherein the cart is further provided with a constant speed stage between the acceleration stage and the deceleration stage in the process of performing positioning.
3. The method for correcting the deviation of the track of the large-span unmanned crane according to claim 1, wherein the PLC controls the frequency converters on the left side and the right side of the cart respectively to drive the motors, so that when any side of the cart reaches a window range, the motor band-type brake on the side stops for waiting until the other side reaches the window range and then stops.
4. The method for correcting a rail of a large-span unmanned crane according to claim 1, 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 |
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| CN112320585A CN112320585A (en) | 2021-02-05 |
| CN112320585B true CN112320585B (en) | 2023-06-20 |
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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 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101143684A (en) * | 2007-06-22 | 2008-03-19 | 王钢 | Bridge type crane cart driving scheme |
| CN103754765A (en) * | 2013-12-27 | 2014-04-30 | 珠海三一港口机械有限公司 | Track type crane and drive control method of cart of track type crane |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104692244A (en) * | 2013-12-06 | 2015-06-10 | 董新旺 | Crane anti-rail-gnawing device |
| JP6280838B2 (en) * | 2014-08-19 | 2018-02-14 | 株式会社日立産機システム | Moving device, hoisting machine, crane device, and wheel life estimation method used therefor |
| CN208561464U (en) * | 2018-05-17 | 2019-03-01 | 江西江特电气集团有限公司 | A kind of cart automatic deviation rectifying device of large span crane |
| CN109019337B (en) * | 2018-09-13 | 2020-06-19 | 郑州大学 | Device and method for correcting walking error and preventing gnawing rail of bridge crane and gantry crane |
| 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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- 2020-10-28 CN CN202011175401.2A patent/CN112320585B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101143684A (en) * | 2007-06-22 | 2008-03-19 | 王钢 | Bridge type crane cart driving scheme |
| CN103754765A (en) * | 2013-12-27 | 2014-04-30 | 珠海三一港口机械有限公司 | Track type crane and drive control method of cart of track type crane |
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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 |