CN112573376A - Electric control method for double-remote-controller relay operation of wharf shore crane - Google Patents
Electric control method for double-remote-controller relay operation of wharf shore crane Download PDFInfo
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- CN112573376A CN112573376A CN201910944484.8A CN201910944484A CN112573376A CN 112573376 A CN112573376 A CN 112573376A CN 201910944484 A CN201910944484 A CN 201910944484A CN 112573376 A CN112573376 A CN 112573376A
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- control
- remote controller
- remote control
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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
- B66C13/22—Control systems or devices for electric drives
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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
- 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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Ship Loading And Unloading (AREA)
Abstract
The invention relates to an electrical control method for double-remote-controller relay operation of a wharf shore crane, which comprises the following steps: step 1: the remote control selection switch and the indicator light are arranged, and the ground remote control selection switch and the state indicator light are arranged at the ground girder according to the requirement of the double remote control system; step 2: setting a double remote control system, and step 3: setting a newly-added limit switch, and step 4: and setting a PLC control program. The technical scheme utilizes double remote control relay operation, an operator is guided into the ground and a cabin from the high altitude of a cab, manual finger lifting is omitted, the operator observes a lifting plate coil in a short distance, and the safety and the reliability of plate coil ship loading operation are ensured.
Description
Technical Field
The invention relates to a control method, in particular to an electrical control method for double-remote-controller relay operation of a wharf quayside crane, and belongs to the technical field of electrical control.
Background
Outgoing of steel plate rolls which are main products of Bao Steel sharps Shanghai Meishan Steel company are mainly transported by wharf waterway ships, and the plate rolls are loaded on freight ships to all ports nationwide by shore cranes during the loading operation of the plate rolls on the wharf. The loading and unloading of the plate coil at the port in China adopt a 'cab operation + manual lifting' loading mode, the labor intensity is high, a plurality of production personnel are provided, and the labor efficiency is not high; in addition, because the operation of a driver is far away from a lifting point, the sight is not clear, and a visual blind area exists, accidents often occur in two key operation processes of plate coil lifting and plate coil falling, and certain potential safety hazards exist. In order to change the current situation, a double-remote-control relay operation technology is utilized, an operator is led into the ground and a cabin from the high altitude of a cab, manual finger lifting is omitted, the operator closely observes a lifted plate coil, and the safety and reliability of plate coil ship loading operation are ensured.
Disclosure of Invention
The invention provides the electric control method for the relay operation of the double remote controllers of the wharf shore crane, aiming at the problems in the prior art, and the technical scheme improves the plate coil loading operation efficiency, reduces the labor intensity and improves the operation safety performance.
In order to achieve the purpose, the technical scheme of the invention is that the electric control method for the double-remote-controller relay operation of the wharf shore crane is characterized by comprising the following steps of:
step 1: the remote control selection switch and the indicator light are arranged, and the ground remote control selection switch and the state indicator light are arranged at the ground girder according to the requirement of the double remote control system;
step 2: the arrangement of the double remote control system is that,
and step 3: the arrangement of the limit switch is added,
and 4, step 4: and setting a PLC control program.
As an improvement of the invention, the specific process of the step 1 is as follows:
the switch position is 1#, and the 1# remote controller (shoreside) controls all mechanisms of the shoreside crane to run in the whole process;
the switch position is 2#, and the 2# remote controller (cabin) controls all mechanisms of the shore crane to operate in the whole process;
the switch position is in' 1# +2#, the shore remote controller and the cabin remote controller respectively control the equipment operation area according to the specific position of the trolley operation, and for the overlapping area (also called a handover area), the 2# cannot be controlled during the 1# operation according to the instruction priority and interlocking principle; 2# in operation, 1# cannot be controlled.
For the control area of the shore crane trolley by the No. 1 and No. 2 remote controllers,
the remote control state indicator lamp can respectively display the working states of the remote controller and the crane control system and provide equipment operation information for an operator through a human-computer interface.
As a modification of the present invention, the step 2: the double remote control system is arranged, specifically, according to the requirement of the double remote control system, two sets of remote control receiving devices, namely a No. 1 remote control system and a No. 2 remote control system, are arranged in a cab, the two systems are two independent systems before being connected with a PLC, and a remote controller receiver is used as an independent part of an original PLC system and is connected with the original control system by adding a corresponding PLC input and output module.
The remote controller is respectively connected with a shore crane system: the two remote controllers can independently request the crane control system to establish communication connection, and can also jointly request the crane control system to establish communication connection. The difference lies in that the equipment is started by a remote controller in a control area according to the position of the trolley, and the equipment is preferentially controlled to operate
As an improvement of the invention, in the step 3, the setting of a newly added limit switch is specifically as follows, according to the needs of a double remote control system, the control authority of the remote controller is determined by additionally arranging sill limit division, and the trolley is controlled by the # 1 remote controller on the right side (the # 1 area) of the sill limit of the waterside; the trolley is positioned on the left side (2 # area) limited by the sill beam on the land side and is controlled by a 2# remote controller; the trolley is arranged between two limiting positions (1 #, 2# overlapping areas), and the 2# cannot be controlled when the 1# is operated according to the principle of command priority and command interlocking; 2# in operation, 1# cannot be controlled.
As a modification of the present invention, the step 4: the PLC control program is set according to the requirements of the double remote control system, the PLC control program is combined with a newly added functional unit on the original crane system, information such as a remote control selection instruction, a remote controller control instruction, a trolley position instruction and various feedback instructions of the original mechanism of the crane is received through programming, and after the program operation and the comprehensive external information processing, the continuous and stable operation of the equipment is controlled, so that the shore operators and the ship operators are enabled to be in seamless butt joint to finish the plate rolling and shipping operation, and the double remote control relay operation time is basically the same as the manual operation time.
A double-remote-controller relay operation electrical control device for a wharf shore crane comprises a set of shore remote controller 1 and a set of cabin remote controller 2, wherein two sets of remote control receiving devices and antennas are installed on a trolley 5, a remote control selection switch 6 is installed at a door leg on the water side of a cart (comprising a set of two-side state indicator lamps), when double remote control relay operation is needed, the selection switch is arranged at the position of 1+2, meanwhile, two sets of electromagnetic induction limit devices (3 and 4) are respectively installed at the front position and the rear position of a sill beam according to the parking distance calculated by the running speed of the trolley, and the control authority of the remote controller is determined according to the position of the trolley; the steel coil is lifted by the 1# remote controller on the shore and then runs towards the cabin, the control authority of the equipment is transferred to the 2# remote controller in a 1+2 area between the limits of the two sill beams, the 2# remote controller operates to place the plate coil in the cabin, then the empty hook returns, the control authority is transferred to the 1# remote controller again in the 1+2 area of the sill beams, and one-time plate coil shipment relay operation is completed. The double remote control operation can ensure that an operator can observe the hoisted object in a close range, and the sight blind area and the labor intensity during single-person remote control operation are reduced.
Compared with the prior art, the invention has the following advantages that 1) the remote controller is connected with the crane system according to the technical scheme: the two remote controllers are respectively powered on to request for communication connection in a crane control system, and after standby display and normal communication are displayed, equipment is started by the remote controller in a control area according to the position of the trolley; 2) actions of the shore 1# remote controller: the No. 1 remote controller controls a crane hoisting plate to be rolled to a reasonable height, a trolley handle is controlled to move towards a ship cabin on the water side, and after the trolley is limited by a shore sill beam, the trolley enters a common remote control area of '1 + 2', and the trolley moving handle is released; 3) cabin 2# remote control operation: after the trolley enters a common remote control area of '1 + 2' (signal feedback is also arranged on a panel of the remote controller), a 2# remote controller controls a handle of the trolley to act (after the handle of the 1# remote controller is released), the trolley continues to run towards a ship cabin on the water side, when the trolley passes through a threshold beam of the ship cabin for limiting, the control right of the remote controller is completely given to the 2# remote controller, and at the moment, the 2# remote controller controls each mechanism of the crane to run, so that a plate coil is dropped into the ship cabin; 4) and (3) returning the empty hook of the trolley to the ground: the 2# remote controller operates each mechanism to operate, the trolley drives the empty hook to move towards the shore, the trolley firstly passes through the cabin sill beam for limiting, the logical operation is the same as the above, and the control right is given to the 1# remote controller to continue to operate in the area of 1+ 2'. In the process, the remote controller and the corresponding receiving device transmit control instructions through wireless signals, and the running state of the equipment and the position information of the trolley are fed back on the remote controller, so that the equipment and the operator can interact with each other, and the operation of personnel is facilitated. In the process, the PLC system of the shore crane controls the continuous and stable operation of the equipment after program operation and comprehensive processing by receiving the command signal of the remote controller, the limiting state of the sill beam of the trolley and the state information of each mechanism of the equipment, thereby ensuring that the shore operators and the ship operators are in seamless butt joint to finish the plate rolling and shipping operation and ensuring that the remote control relay operation time is basically the same as the manual operation time.
Drawings
Fig. 1 shows a hardware solution of the dual remote control technique of the present invention, and the dotted line represents a control module (system) added on the basis of the original cab operation technique.
FIG. 2 is a schematic diagram of control areas of a dual remote controller according to the present invention.
FIG. 3 is a flow chart of the program control function of the present invention.
FIG. 4 is a diagram of the hardware configuration of the present invention.
In the figure: 1. 1# shore remote controller; 2. 2# cabin remote controller; 3. Limiting a shore sill beam; 4. limiting a cabin sill beam; 5. A trolley mechanism (comprising a No. 1#2 remote control receiver); 6. A remote control selection switch and an indicator light;
the specific implementation mode is as follows:
for the purpose of enhancing an understanding of the present invention, the present embodiment will be described in detail below with reference to the accompanying drawings.
Example 1: referring to fig. 1-4, the electric control device for the double remote controller relay operation of the wharf shore crane comprises a set of shore remote controllers 1 and a set of cabin remote controllers 2, two sets of remote control receiving devices and antennas are arranged on a trolley 5, a remote control selection switch 6 is arranged at the position of a water side door leg of a cart (comprising a set of two-side state indicator lamps), when the double remote control relay operation is needed, the selection switch is arranged at the position of 1+2, meanwhile, two sets of electromagnetic induction limit (3 and 4) are respectively arranged at the front position and the rear position of a sill beam according to the parking distance calculated by the running speed of the trolley, and the control authority of the remote controllers is determined according to the position of the trolley; the steel coil is lifted by the 1# remote controller on the shore and then runs towards the cabin, the control authority of the equipment is transferred to the 2# remote controller in a 1+2 area between the limits of the two sill beams, the 2# remote controller operates to place the plate coil in the cabin, then the empty hook returns, the control authority is transferred to the 1# remote controller again in the 1+2 area of the sill beams, and one-time plate coil shipment relay operation is completed. The double remote control operation can ensure that an operator can observe the hoisted object in a close range, and the sight blind area and the labor intensity during single-person remote control operation are reduced. According to the scheme, 2 sets of remote control systems are additionally arranged on the shore crane, and the operations of various mechanisms of the shore crane and the cabin crane can be controlled respectively. Two induction limit parts are respectively arranged at the front and the back of the water side sill beam, and a remote control authority selection switch is arranged on the ground to distinguish the control authority of the remote controller and ensure the stable operation of the equipment. The remote controller and the limiting state ensure that all mechanisms continuously act through the operation of a PLC control system and a program on the machine so as to finish the plate coil shipment relay operation. And the two sets of remote controller receiving devices are arranged in the cab of the trolley, are connected with the shore crane PLC input-output module, and respectively receive the instructions transmitted by the ground corresponding to the remote controllers to drive the equipment to operate. The two sets of remote control transmitters are respectively operated by ground operators at the shore and in the cabin, and can transmit operation instructions to the receiver and also receive feedback information of a shore crane, such as the running position of a trolley and the like, thereby providing a good man-machine interaction interface for the operators. The induction limit is respectively installed at two sides (above the water side door legs) of the sill beam in the middle of the running stroke of the trolley, and when the trolley runs through the limit, the state changes once, so that the specific area of the trolley running is identified. The ground remote control selection setting switch has 3 functions, namely three running states of a 1# remote controller, a 2# remote controller and a 1# +2# remote controller, and when two remote controllers are used for completing relay operation, the state of the 1# +2# remote controller must be selected. The two remote controllers can independently control the equipment to independently operate and can also be controlled jointly, and the key point of the teaching of the invention is a relay operation control method of' 1# +2#, namely double remote control relay operation and the realization process thereof.
Selection of remote controller control authority: and selecting a remote controller control operation mode at the ground remote control selection switch according to operation requirements.
And selecting the No. 1 remote control or the No. 2 remote control, and controlling all mechanisms of the shore crane to operate in the whole process by the selected remote controller.
Selecting a 1# +2# remote controller, respectively controlling equipment in the shore remote controller and the cabin remote controller to operate according to the specific position of the trolley, and for an overlapping area (also called a handover area), according to the instruction priority and interlocking principle, when the 1# is operated, the 2# cannot be controlled; 2# in operation, 1# cannot be controlled. After the selection is finished, the control state is indicated by the indicating lamp at the door leg.
And (3) stable handover of the control authority of the remote controller: according to the parking distance calculated by the running speed of the trolley, 2 sets of electromagnetic induction limit (3 and 4) are respectively arranged at the front and the rear of the sill beam, and the control authority of the remote controller is determined according to the position of the trolley in running. The distance between the two inductive limit mounting positions is greater than the parking distance, and the control authority is ensured to be stably handed over in a region of 1# +2 #.
Example 2: referring to fig. 1-4, an electrical control method for a double remote controller relay operation of a quay crane, the method comprising the steps of:
step 1: the remote control selection switch and the indicator light are arranged, and the ground remote control selection switch and the state indicator light are arranged at the ground girder according to the requirement of the double remote control system;
step 2: the arrangement of the double remote control system is that,
and step 3: the arrangement of the limit switch is added,
and 4, step 4: and setting a PLC control program.
The specific process of the step 1 is as follows:
the switch position is 1#, and the 1# remote controller (shoreside) controls all mechanisms of the shoreside crane to run in the whole process;
the switch position is 2#, and the 2# remote controller (cabin) controls all mechanisms of the shore crane to operate in the whole process;
the switch position is in' 1# +2#, the shore remote controller and the cabin remote controller respectively control the equipment operation area according to the specific position of the trolley operation, and for the overlapping area (also called a handover area), the 2# cannot be controlled during the 1# operation according to the instruction priority and interlocking principle; 2# in operation, 1# cannot be controlled.
The 1# and 2# remote controllers control the area for the shore crane trolley (as shown in the following figure 2):
the remote control state indicator lamp can respectively display the working states of the remote controller and the crane control system and provide equipment operation information for an operator through a human-computer interface.
The step 2: the double remote control system is arranged, specifically, according to the requirement of the double remote control system, two sets of remote control receiving devices, namely a No. 1 remote control system and a No. 2 remote control system, are arranged in a cab, the two systems are two independent systems before being connected with a PLC, and a remote controller receiver is used as an independent part of an original PLC system and is connected with the original control system by adding a corresponding PLC input and output module.
The remote controller is respectively connected with a shore crane system: the two remote controllers can independently request the crane control system to establish communication connection, and can also jointly request the crane control system to establish communication connection. The difference lies in that the equipment is started by a remote controller in a control area according to the position of the trolley, and the equipment is preferentially controlled to operate
The step 4: the PLC control program is set according to the requirements of the double remote control system, the PLC control program is combined with a newly added functional unit on the original crane system, information such as a remote control selection instruction, a remote controller control instruction, a trolley position instruction and various feedback instructions of the original mechanism of the crane is received through programming, and after the program operation and the comprehensive external information processing, the continuous and stable operation of the equipment is controlled, so that the shore operators and the ship operators are enabled to be in seamless butt joint to finish the plate rolling and shipping operation, and the double remote control relay operation time is basically the same as the manual operation time. ,
it should be noted that the above-mentioned embodiments are not intended to limit the scope of the present invention, and all equivalent modifications and substitutions based on the above-mentioned technical solutions are within the scope of the present invention as defined in the claims.
Claims (6)
1. A double-remote-controller relay operation electrical control method for a wharf shore crane is characterized by comprising the following steps:
step 1: the remote control selection switch and the indicator light are arranged, and the ground remote control selection switch and the state indicator light are arranged at the ground girder according to the requirement of the double remote control system;
step 2: the arrangement of the double remote control system is that,
and step 3: the arrangement of the limit switch is added,
and 4, step 4: and setting a PLC control program.
2. The electrical control method for the double-remote-controller relay operation of the quay crane according to claim 1, wherein the specific process of the step 1 is as follows:
the switch position is 1#, and the 1# remote controller (shoreside) controls all mechanisms of the shoreside crane to run in the whole process;
the switch position is 2#, and the 2# remote controller (cabin) controls all mechanisms of the shore crane to operate in the whole process;
the switch position is in' 1# +2#, the shore remote controller and the cabin remote controller respectively control the equipment operation area according to the specific position of the trolley operation, and for the overlapping area (also called a handover area), the 2# cannot be controlled during the 1# operation according to the instruction priority and interlocking principle; 2# in operation, 1# cannot be controlled;
1# and 2# remote controllers control areas of the shore crane trolley:
the remote control state indicator lamp can respectively display the working states of the remote controller and the crane control system and provide equipment operation information for an operator through a human-computer interface.
3. The electrical control method for the relay operation of the double remote controllers of the quay crane on the wharf side as claimed in claim 2, wherein the step 2 of setting the double remote control systems is that two sets of remote control receiving devices, a # 1 remote control system and a #2 remote control system, are set in a cab according to the requirements of the double remote control systems, the two systems are two independent systems before being connected with the PLC, and a receiver of the remote controller is used as an independent part of an original PLC system and is connected with the original control system by adding a corresponding PLC input and output module.
4. The electrical control method for the relay operation of the double remote controllers of the quay crane according to the claim 3, wherein the setting of the limit switch is newly added in the step 3, specifically, according to the requirement of a double remote control system, the control authority of the remote controller is determined by additionally arranging the sill beam limit division, and the trolley is arranged on the right side (1 # area) of the sill beam limit of the water side and is controlled by the # 1 remote controller; the trolley is positioned on the left side (2 # area) limited by the sill beam on the land side and is controlled by a 2# remote controller; the trolley is arranged between two limiting positions (1 #, 2# overlapping areas), and the 2# cannot be controlled when the 1# is operated according to the principle of command priority and command interlocking; 2# in operation, 1# cannot be controlled.
5. The electrical control method for the quay crane dual-remote-controller relay operation according to claim 4, characterized in that the step 4: the PLC control program is set according to the requirements of the double remote control system, combines with a newly added functional unit on the original crane system, receives information such as a remote control selection instruction, a remote controller control instruction, a trolley position instruction and each feedback instruction of the original crane mechanism through programming, and controls the continuous and stable operation of equipment after the program operation and the comprehensive external information processing.
6. A double-remote-controller relay operation electrical control device for a wharf shore crane is characterized by comprising a set of shore remote controllers 1 and a set of cabin remote controllers 2, wherein two sets of remote control receiving devices and antennas are installed on a trolley 5, a remote control selection switch 6 is installed at a water side door leg of a large trolley (comprising a set of two-sided state indicator lamps), when double remote control relay operation is needed, the selection switch is arranged at the position of 1+2, meanwhile, two sets of electromagnetic induction limit devices (3 and 4) are respectively installed at the front position and the rear position of a sill beam according to the parking distance calculated by the running speed of the trolley, and the control authority of the remote controllers is determined according to the position of the trolley; the steel coil is lifted by the 1# remote controller on the shore and then runs towards the cabin, the control authority of the equipment is transferred to the 2# remote controller in a 1+2 area between the limits of the two sill beams, the 2# remote controller operates to place the plate coil in the cabin, then the empty hook returns, the control authority is transferred to the 1# remote controller again in the 1+2 area of the sill beams, and one-time plate coil shipment relay operation is completed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910944484.8A CN112573376A (en) | 2019-09-30 | 2019-09-30 | Electric control method for double-remote-controller relay operation of wharf shore crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910944484.8A CN112573376A (en) | 2019-09-30 | 2019-09-30 | Electric control method for double-remote-controller relay operation of wharf shore crane |
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| CN203806984U (en) * | 2014-05-15 | 2014-09-03 | 大连宝信起重技术有限公司 | Double-remote-controller control equipment for crane |
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| CN207957556U (en) * | 2018-03-21 | 2018-10-12 | 中船第九设计研究院工程有限公司 | A kind of double long-distance remote control cargo handling system of gantry crane |
| CN108910704A (en) * | 2018-09-18 | 2018-11-30 | 龙吉宁 | A kind of harbour bank crane tool Intelligent operation system of variable power and operation method |
| CN209242510U (en) * | 2018-12-17 | 2019-08-13 | 青岛海西重机有限责任公司 | A kind of suspender remote de-locking device, sling upper rack and shore container crane |
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2019
- 2019-09-30 CN CN201910944484.8A patent/CN112573376A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203806984U (en) * | 2014-05-15 | 2014-09-03 | 大连宝信起重技术有限公司 | Double-remote-controller control equipment for crane |
| CN204549862U (en) * | 2015-04-17 | 2015-08-12 | 天津德仕达起重输送设备有限公司 | Hoisting crane operation joins Remote Control Automatic switched system |
| CN206395735U (en) * | 2016-11-01 | 2017-08-11 | 上海海希工业通讯股份有限公司 | Bridge crane and its wireless remote-control system |
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| CN108910704A (en) * | 2018-09-18 | 2018-11-30 | 龙吉宁 | A kind of harbour bank crane tool Intelligent operation system of variable power and operation method |
| CN209242510U (en) * | 2018-12-17 | 2019-08-13 | 青岛海西重机有限责任公司 | A kind of suspender remote de-locking device, sling upper rack and shore container crane |
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Application publication date: 20210330 |