CN112607611A - Positioning control method for large-capacity gantry crane - Google Patents
Positioning control method for large-capacity gantry crane Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000004458 analytical method Methods 0.000 claims abstract description 24
- 238000004364 calculation method Methods 0.000 claims abstract description 21
- 238000004088 simulation Methods 0.000 claims abstract description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 25
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- 230000001174 ascending effect Effects 0.000 claims description 4
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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
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
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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
- B66C13/22—Control systems or devices for electric drives
-
- 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
Abstract
The invention discloses a positioning control method of a large-capacity gantry crane, which belongs to the technical field of cranes and is characterized by comprising the following steps: a. two parallel rails are arranged below a rigid door leg on one side of the portal crane, and three wheels are arranged on the rigid door leg; b. position sensors are arranged on the walking trolley and the track, and the PLC carries out calculation and analysis on the data; c. installing stress detection sensors on a main beam, door legs, an end beam and a lower cross beam of the door frame, performing analog simulation on the door frame, checking data obtained through simulation analysis and data on the stress sensors, and obtaining deformation data of the door frame through interpolation calculation; d. and carrying out comprehensive calculation and analysis on the data through the PLC to obtain the running state of the gantry crane. The gantry crane gantry deformation data acquisition device can acquire gantry crane gantry deformation data of the gantry crane, realizes accurate positioning of each point of the gantry crane, and is simple in whole control process, good in adaptability and high in control precision.
Description
Technical Field
The invention relates to the technical field of cranes, in particular to a positioning control method for a large-capacity portal crane.
Background
At present, most of the portal cranes adopt a ground command department and a method for operating the portal cranes, and particularly, the portal cranes have large span and adopt a rigid-flexible leg or a rigid-semi-flexible leg. The deformation of the whole portal frame is large when the portal crane lifts a heavy object, and accurate positioning of each point of the portal crane cannot be realized. Along with the continuous development of science and technology, also require to reach accurate location on some large capacity gantry crane, prior art is difficult to carry out accurate location to large capacity gantry crane.
Chinese patent publication No. CN 103612989a, publication No. 2014, 03 and 05 discloses an automatic control system for a gantry crane, which is characterized in that: the gantry crane comprises a beam and supporting legs, wherein the beam is provided with a trolley, the trolley is connected with a driving mechanism, the driving mechanism drives the trolley to move back and forth along the beam, the trolley is also provided with a braking mechanism, a lifting appliance is hung below the trolley and is connected with a lifting appliance retracting mechanism, the central position of the trolley is provided with a first positioning transmitting device used for collecting and transmitting the central position information of the trolley, the bottom of the lifting appliance is provided with a first distance detector used for detecting the distance between the bottom of the lifting appliance and a container, four corners of the top surface of the container are provided with second positioning transmitting devices, the bottom surface of the container is provided with a second distance detector used for collecting and transmitting the top surface position information of the container, the second distance detector is used for detecting the distance between the bottom of the container and the ground or the container below the container, the data processing equipment receives information transmitted by the first positioning transmitting device, the second positioning transmitting device, the first distance detector, the weighing device and the second distance detector, and the data processing equipment can also control the operation of the driving mechanism and the lifting appliance retracting and releasing mechanism.
The portal crane automatic control system disclosed by the patent document can automatically control the travelling of the trolley and the dropping of the lifting appliance by combining the simple positioning and transmitting device and the sensor, and can control the travelling speed of the trolley and the dropping speed of the lifting appliance according to actual conditions, thereby eliminating unstable factors during manual operation. However, gantry deformation data of the gantry crane cannot be acquired, and accurate positioning of each point of the gantry crane cannot be achieved.
Disclosure of Invention
The invention can acquire portal frame deformation data of the portal crane, realize accurate positioning of each point of the portal crane, and has the advantages of simple whole control process, good adaptability and high control precision.
The invention is realized by the following technical scheme:
a positioning control method for a large-capacity gantry crane is characterized by comprising the following steps:
a. two parallel rails are arranged below a rigid door leg on one side of the portal crane, three wheels are arranged on the rigid door leg, the two wheels are in contact with one rail, the last wheel is in contact with the other rail, an encoder is arranged on each wheel, and magnetic steel is arranged beside each rail;
b. arranging position sensors on the traveling trolley and the track, transmitting data monitored by the position sensors to the PLC, and calculating and analyzing the data by the PLC;
c. installing detection stress sensors on a main beam, door legs, an end beam and a lower cross beam of the door frame, wherein the detection stress sensors are used for detecting data of each point on the door frame in the operation process of the door crane;
d. the detection stress sensor transmits the monitored data to the PLC, and the PLC carries out comprehensive calculation and analysis on the data monitored by the detection stress sensor and the data monitored by the position sensor to finally obtain the running state of the gantry crane.
In the step a, the two wheels are two end wheels, the last wheel is a middle wheel, and the middle wheel is arranged on the walking trolley through a thrust spring.
In the step c, the data obtained through simulation analysis means that the deformation quantity delta L of the gantry in the track direction of the traveling trolley is calculated, the stress of each test point on the gantry is obtained, and the stress is stored in the PLC.
In the step c, the checking specifically means that the travel L of the traveling trolley along the track direction is calculated through calibration according to formula 1;
l ═ Ln/(Xn-Xo) X-Ln × (Xn-Xo) formula 1
In the formula, L is the ascending stroke of walking platform truck along the track direction, and Ln is nth magnet steel position, and Xn is the encoder sign indicating number value that nth magnet steel position point corresponds, and Xo is the encoder sign indicating number value that magnetic steel position point corresponds at zero point, and X is the encoder sign indicating number value that current magnet steel position point corresponds.
In the step d, the comprehensive calculation analysis is to calculate the relative position L along the track direction of the traveling trolley by the formula 2K；
LKL +. DELTA.L formula 2
In the formula, LKIs the relative position along the track direction of the traveling trolley, and L is the traveling trolley edgeAnd the stroke in the track direction, wherein the delta L is the deformation of the gantry in the track direction of the walking trolley.
The beneficial effects of the invention are mainly shown in the following aspects:
the invention relates to a method for controlling the track of a gantry crane, which comprises the following steps that firstly, two parallel tracks are arranged below a rigid door leg on one side of the gantry crane, three wheels are arranged on the rigid door leg, the two wheels are in contact with one track, the last wheel is in contact with the other track, an encoder is arranged on each wheel, and magnetic steel is arranged beside the tracks; b. arranging position sensors on the traveling trolley and the track, transmitting data monitored by the position sensors to the PLC, and calculating and analyzing the data by the PLC; c. installing detection stress sensors on a main beam, door legs, an end beam and a lower cross beam of the door frame, wherein the detection stress sensors are used for detecting data of each point on the door frame in the operation process of the door crane; d. detect stress sensor data transmission to the PLC controller with monitoring, carry out the comprehensive calculation analysis to the data that detect stress sensor monitoring and the data of position sensor monitoring through the PLC controller, finally reach gantry crane's running state ", compared with prior art, can acquire gantry crane's portal deformation data, realize the accurate location of each point of gantry crane, whole control process is simple, and adaptability is good, and control accuracy is high.
In the step a, the two wheels are two end wheels, the last wheel is a middle wheel, the middle wheel is arranged on the traveling trolley through a thrust spring, the two end wheels do not move laterally relative to the traveling trolley, the middle wheel on the other track has a certain lateral movement adjusting amount relative to the traveling trolley, the middle wheel can slide on a wheel shaft relatively through the thrust spring, and the thrust of the thrust spring is transmitted to the outer side treads of the wheels on the two tracks, so that the outer side treads of the wheels on the two tracks are always attached to the outer side faces of the tracks, and the control precision is improved.
In the step c, the data obtained through simulation analysis means that the deformation quantity delta L of the gantry in the track direction of the traveling trolley is calculated, the stress of each test point on the gantry is obtained and stored in the PLC, and the calibration through the PLC in the subsequent process is facilitated.
In the step c, the checking specifically means that the travel L of the walking trolley along the track direction is calibrated and calculated by the formula 1, and the calculation accuracy can be guaranteed.
Fifthly, in the invention, in the step d, the comprehensive calculation analysis is to calculate the relative position L along the track direction of the traveling trolley by the formula 2KAnd the calculation is convenient and simple.
Detailed Description
Example 1
A positioning control method for a large-capacity gantry crane comprises the following steps:
a. two parallel rails are arranged below a rigid door leg on one side of the portal crane, three wheels are arranged on the rigid door leg, the two wheels are in contact with one rail, the last wheel is in contact with the other rail, an encoder is arranged on each wheel, and magnetic steel is arranged beside each rail;
b. arranging position sensors on the traveling trolley and the track, transmitting data monitored by the position sensors to the PLC, and calculating and analyzing the data by the PLC;
c. installing detection stress sensors on a main beam, door legs, an end beam and a lower cross beam of the door frame, wherein the detection stress sensors are used for detecting data of each point on the door frame in the operation process of the door crane;
d. the detection stress sensor transmits the monitored data to the PLC, and the PLC carries out comprehensive calculation and analysis on the data monitored by the detection stress sensor and the data monitored by the position sensor to finally obtain the running state of the gantry crane.
A, two parallel tracks are arranged below a rigid door leg on one side of the portal crane, three wheels are arranged on the rigid door leg, the two wheels are in contact with one track, the last wheel is in contact with the other track, an encoder is arranged on each wheel, and magnetic steel is arranged beside each track; b. arranging position sensors on the traveling trolley and the track, transmitting data monitored by the position sensors to the PLC, and calculating and analyzing the data by the PLC; c. installing detection stress sensors on a main beam, door legs, an end beam and a lower cross beam of the door frame, wherein the detection stress sensors are used for detecting data of each point on the door frame in the operation process of the door crane; d. detect stress sensor data transmission to the PLC controller with monitoring, carry out the comprehensive calculation analysis to the data that detect stress sensor monitoring and the data of position sensor monitoring through the PLC controller, finally reach gantry crane's running state ", compared with prior art, can acquire gantry crane's portal deformation data, realize the accurate location of each point of gantry crane, whole control process is simple, and adaptability is good, and control accuracy is high.
Example 2
A positioning control method for a large-capacity gantry crane comprises the following steps:
a. two parallel rails are arranged below a rigid door leg on one side of the portal crane, three wheels are arranged on the rigid door leg, the two wheels are in contact with one rail, the last wheel is in contact with the other rail, an encoder is arranged on each wheel, and magnetic steel is arranged beside each rail;
b. arranging position sensors on the traveling trolley and the track, transmitting data monitored by the position sensors to the PLC, and calculating and analyzing the data by the PLC;
c. installing detection stress sensors on a main beam, door legs, an end beam and a lower cross beam of the door frame, wherein the detection stress sensors are used for detecting data of each point on the door frame in the operation process of the door crane;
d. the detection stress sensor transmits the monitored data to the PLC, and the PLC carries out comprehensive calculation and analysis on the data monitored by the detection stress sensor and the data monitored by the position sensor to finally obtain the running state of the gantry crane.
In the step a, the two wheels are two end wheels, the last wheel is a middle wheel, and the middle wheel is arranged on the walking trolley through a thrust spring.
In the step a, the two wheels are two end wheels, the last wheel is a middle wheel, the middle wheel is arranged on the traveling trolley through a thrust spring, the two end wheels do not move laterally relative to the traveling trolley, the middle wheel on the other track has a certain lateral movement adjusting amount relative to the traveling trolley, the middle wheel can slide relatively on a wheel shaft through the thrust spring, and the thrust of the thrust spring is transmitted to the outer side treads of the wheels on the two tracks, so that the outer side treads of the wheels on the two tracks are always attached to the outer side faces of the tracks, and the control precision is improved.
Example 3
A positioning control method for a large-capacity gantry crane comprises the following steps:
a. two parallel rails are arranged below a rigid door leg on one side of the portal crane, three wheels are arranged on the rigid door leg, the two wheels are in contact with one rail, the last wheel is in contact with the other rail, an encoder is arranged on each wheel, and magnetic steel is arranged beside each rail;
b. arranging position sensors on the traveling trolley and the track, transmitting data monitored by the position sensors to the PLC, and calculating and analyzing the data by the PLC;
c. installing detection stress sensors on a main beam, door legs, an end beam and a lower cross beam of the door frame, wherein the detection stress sensors are used for detecting data of each point on the door frame in the operation process of the door crane;
d. the detection stress sensor transmits the monitored data to the PLC, and the PLC carries out comprehensive calculation and analysis on the data monitored by the detection stress sensor and the data monitored by the position sensor to finally obtain the running state of the gantry crane.
In the step a, the two wheels are two end wheels, the last wheel is a middle wheel, and the middle wheel is arranged on the walking trolley through a thrust spring.
In the step c, the data obtained through simulation analysis means that the deformation quantity delta L of the gantry in the track direction of the traveling trolley is calculated, the stress of each test point on the gantry is obtained, and the stress is stored in the PLC.
In the step c, the data obtained through simulation analysis means that the deformation quantity delta L of the gantry in the track direction of the traveling trolley is calculated, the stress of each test point on the gantry is obtained and stored in the PLC, and the calibration through the PLC in the subsequent process is facilitated.
Example 4
A positioning control method for a large-capacity gantry crane comprises the following steps:
a. two parallel rails are arranged below a rigid door leg on one side of the portal crane, three wheels are arranged on the rigid door leg, the two wheels are in contact with one rail, the last wheel is in contact with the other rail, an encoder is arranged on each wheel, and magnetic steel is arranged beside each rail;
b. arranging position sensors on the traveling trolley and the track, transmitting data monitored by the position sensors to the PLC, and calculating and analyzing the data by the PLC;
c. installing detection stress sensors on a main beam, door legs, an end beam and a lower cross beam of the door frame, wherein the detection stress sensors are used for detecting data of each point on the door frame in the operation process of the door crane;
d. the detection stress sensor transmits the monitored data to the PLC, and the PLC carries out comprehensive calculation and analysis on the data monitored by the detection stress sensor and the data monitored by the position sensor to finally obtain the running state of the gantry crane.
In the step a, the two wheels are two end wheels, the last wheel is a middle wheel, and the middle wheel is arranged on the walking trolley through a thrust spring.
In the step c, the data obtained through simulation analysis means that the deformation quantity delta L of the gantry in the track direction of the traveling trolley is calculated, the stress of each test point on the gantry is obtained, and the stress is stored in the PLC.
In the step c, the checking specifically means that the travel L of the traveling trolley along the track direction is calculated through calibration according to formula 1;
l ═ Ln/(Xn-Xo) X-Ln × (Xn-Xo) formula 1
In the formula, L is the ascending stroke of walking platform truck along the track direction, and Ln is nth magnet steel position, and Xn is the encoder sign indicating number value that nth magnet steel position point corresponds, and Xo is the encoder sign indicating number value that magnetic steel position point corresponds at zero point, and X is the encoder sign indicating number value that current magnet steel position point corresponds.
In the step c, the checking specifically means that the travel L of the traveling trolley along the track direction is calibrated and calculated by the formula 1, and the calculation accuracy can be guaranteed.
Example 5
A positioning control method for a large-capacity gantry crane comprises the following steps:
a. two parallel rails are arranged below a rigid door leg on one side of the portal crane, three wheels are arranged on the rigid door leg, the two wheels are in contact with one rail, the last wheel is in contact with the other rail, an encoder is arranged on each wheel, and magnetic steel is arranged beside each rail;
b. arranging position sensors on the traveling trolley and the track, transmitting data monitored by the position sensors to the PLC, and calculating and analyzing the data by the PLC;
c. installing detection stress sensors on a main beam, door legs, an end beam and a lower cross beam of the door frame, wherein the detection stress sensors are used for detecting data of each point on the door frame in the operation process of the door crane;
d. the detection stress sensor transmits the monitored data to the PLC, and the PLC carries out comprehensive calculation and analysis on the data monitored by the detection stress sensor and the data monitored by the position sensor to finally obtain the running state of the gantry crane.
In the step a, the two wheels are two end wheels, the last wheel is a middle wheel, and the middle wheel is arranged on the walking trolley through a thrust spring.
In the step c, the data obtained through simulation analysis means that the deformation quantity delta L of the gantry in the track direction of the traveling trolley is calculated, the stress of each test point on the gantry is obtained, and the stress is stored in the PLC.
In the step c, the checking specifically means that the travel L of the traveling trolley along the track direction is calculated through calibration according to formula 1;
l ═ Ln/(Xn-Xo) X-Ln × (Xn-Xo) formula 1
In the formula, L is the ascending stroke of walking platform truck along the track direction, and Ln is nth magnet steel position, and Xn is the encoder sign indicating number value that nth magnet steel position point corresponds, and Xo is the encoder sign indicating number value that magnetic steel position point corresponds at zero point, and X is the encoder sign indicating number value that current magnet steel position point corresponds.
In the step d, the comprehensive calculation analysis is to calculate the relative position L along the track direction of the traveling trolley by the formula 2K；
LKL +. DELTA.L formula 2
In the formula, LKIs the relative position along the track direction of the walking trolley, L is the travel of the walking trolley along the track direction, and Delta L is the deformation of the gantry along the track direction of the walking trolley.
In the step d, the comprehensive calculation analysis is to calculate the relative position L along the track direction of the traveling trolley by the formula 2KAnd the calculation is convenient and simple.
Claims (5)
1. A positioning control method for a large-capacity gantry crane is characterized by comprising the following steps:
a. two parallel rails are arranged below a rigid door leg on one side of the portal crane, three wheels are arranged on the rigid door leg, the two wheels are in contact with one rail, the last wheel is in contact with the other rail, an encoder is arranged on each wheel, and magnetic steel is arranged beside each rail;
b. arranging position sensors on the traveling trolley and the track, transmitting data monitored by the position sensors to the PLC, and calculating and analyzing the data by the PLC;
c. installing detection stress sensors on a main beam, door legs, an end beam and a lower cross beam of the door frame, wherein the detection stress sensors are used for detecting data of each point on the door frame in the operation process of the door crane;
d. the detection stress sensor transmits the monitored data to the PLC, and the PLC carries out comprehensive calculation and analysis on the data monitored by the detection stress sensor and the data monitored by the position sensor to finally obtain the running state of the gantry crane.
2. The positioning control method of the large-capacity gantry crane according to claim 1, characterized in that: in the step a, the two wheels are two end wheels, the last wheel is a middle wheel, and the middle wheel is arranged on the walking trolley through a thrust spring.
3. The positioning control method of the large-capacity gantry crane according to claim 1, characterized in that: in the step c, the data obtained through simulation analysis means that the deformation quantity delta L of the gantry in the track direction of the traveling trolley is calculated, the stress of each test point on the gantry is obtained, and the stress is stored in the PLC.
4. The positioning control method of the large-capacity gantry crane according to claim 1, characterized in that: in the step c, the checking specifically means that the travel L of the traveling trolley along the track direction is calculated through calibration according to formula 1;
l ═ Ln/(Xn-Xo) X-Ln × (Xn-Xo) formula 1
In the formula, L is the ascending stroke of walking platform truck along the track direction, and Ln is nth magnet steel position, and Xn is the encoder sign indicating number value that nth magnet steel position point corresponds, and Xo is the encoder sign indicating number value that magnetic steel position point corresponds at zero point, and X is the encoder sign indicating number value that current magnet steel position point corresponds.
5. The positioning control method of the large-capacity gantry crane according to claim 1, characterized in that: in the step d, the comprehensive calculation analysis is to calculate the relative position L along the track direction of the traveling trolley by the formula 2K；
LKL +. DELTA.L formula 2
In the formula, LKIs the relative position along the track direction of the walking trolley, L is the travel of the walking trolley along the track direction, and Delta L is the deformation of the gantry along the track direction of the walking trolley.
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| CN204389194U (en) * | 2014-12-30 | 2015-06-10 | 上海市特种设备监督检验技术研究院 | The safety assessment device of shore container crane |
| CN109052181A (en) * | 2018-10-31 | 2018-12-21 | 中船第九设计研究院工程有限公司 | A kind of shipbuilding gantry crane failure monitoring diagnostic system and method |
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2020
- 2020-12-31 CN CN202011619347.6A patent/CN112607611A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20040154407A1 (en) * | 2003-02-11 | 2004-08-12 | American Dental Association Foundation | Polymer shrinkage tensometer |
| CN101377524A (en) * | 2007-08-30 | 2009-03-04 | 北京佳讯飞鸿电气股份有限公司 | Vehicle speed measuring method based on steel rail deformation / stress parameters |
| CN203982678U (en) * | 2014-07-21 | 2014-12-03 | 广州特种机电设备检测研究院 | A kind of shore container crane empirical model |
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Application publication date: 20210406 |