CN113104739A - Gantry traveling mechanism and traveling control method - Google Patents
Gantry traveling mechanism and traveling control method Download PDFInfo
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- CN113104739A CN113104739A CN202110365992.8A CN202110365992A CN113104739A CN 113104739 A CN113104739 A CN 113104739A CN 202110365992 A CN202110365992 A CN 202110365992A CN 113104739 A CN113104739 A CN 113104739A
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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
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/04—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports with lifting beams, e.g. slewable beams, carrying load-engaging elements, e.g. magnets, hooks
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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
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
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Abstract
The invention provides a gantry traveling mechanism and a traveling control method. The gantry traveling mechanism comprises: the first side supporting beam and the second side supporting beam are arranged at intervals; a walking beam: the first end of the first side supporting beam is arranged on the first side supporting beam, and the second end of the first side supporting beam is arranged on the second side supporting beam; a driving mechanism: the device comprises a first driving mechanism arranged at the first end of a walking beam and a second driving mechanism arranged at the second end of the walking beam; a power supply system: comprises a first power supply and a second power supply; the first power supply is connected with commercial power, and the second power supply is an energy storage power supply and is electrically connected with the first driving mechanism and the second driving mechanism; the control system comprises: the first power supply is connected with the driving mechanism when the commercial power is connected, and the second power supply is connected with the driving mechanism when the commercial power is cut off; and is electrically connected with the first driving mechanism and the second driving mechanism. The walking control method can respectively adjust the output of the first driving mechanism and the second driving mechanism to realize the bilateral apposition braking.
Description
Technical Field
The invention relates to the technical field of gantry machinery, in particular to a gantry traveling mechanism and a traveling control method.
Background
The double-drive gantry robot comprises double-side longitudinal beams and a cross beam arranged between the double-side longitudinal beams, wherein an electric box and a travelling mechanism are usually arranged on the cross beam, for example: a robot arm. The left side and the right side of the cross beam are respectively provided with a servo motor reducer which directly drives the cross beam to run on the longitudinal beam. The double-drive motor adopts a band-type brake motor, and under the condition of abnormal power failure of the system, the motor mechanical band-type brake acts to automatically start the brake, so that the equipment is ensured to stop in time.
When the gantry robot works normally, the walking mechanism walks along the cross beam. The arrangement of the electrical box results in an increased weight on the side where it is located. Therefore, under normal conditions, the weights of the left side and the right side of the cross beam are different, and particularly when the arms run to one side of the aerial electric box, the weight of the side is increased. If the two sides are controlled in a balanced manner, the two sides are unbalanced in movement.
When the gantry robot works abnormally, for example, under the condition of abnormal power failure, the mechanical internal contracting brake of the motor is automatically started. At this time, if the weights of the left side and the right side on the cross beam are different, the inertia of the heavy side is large, the braking distances of the two sides of the cross beam are different, and the two sides move unevenly.
Therefore, the problem of unbalanced walking on both sides of the cross beam exists during normal work and abnormal power failure, and the cross beam deflects.
Disclosure of Invention
The invention aims to solve one of the technical problems, eliminate the influence of factors such as abnormal power failure and unbalanced weight on a gantry travelling mechanism, and provide the gantry travelling mechanism with stable travelling and braking effects and a travelling control method.
In order to achieve the purpose, the invention adopts the technical scheme that:
a gantry crane comprising:
and (3) walking track: the device comprises a first side supporting beam and a second side supporting beam which are arranged at intervals;
a walking beam: the first end of the first side supporting beam is arranged on the first side supporting beam, and the second end of the first side supporting beam is arranged on the second side supporting beam;
a driving mechanism: the first driving mechanism is used for driving the first end of the walking beam to walk along the walking rail, and the second driving mechanism is used for driving the second end of the walking beam to walk along the walking rail;
a power supply system: comprises a first power supply and a second power supply; the first power supply is connected with commercial power and is electrically connected with the first driving mechanism and the second driving mechanism; the second power supply is an energy storage power supply and is electrically connected with the first driving mechanism and the second driving mechanism;
the control system comprises: the first power supply is connected with the driving mechanism when the commercial power is connected, and the second power supply is connected with the driving mechanism when the commercial power is cut off; the control system is further electrically connected with the first driving mechanism and the second driving mechanism and respectively adjusts the output of the first driving mechanism and the output of the second driving mechanism.
In some embodiments of the invention: the walking beam is provided with a walking part, and the walking part can walk along the length direction of the walking beam.
In some embodiments of the invention: the gantry traveling mechanism further comprises:
the distance measuring mechanism comprises: the device comprises a first distance measuring mechanism arranged at the first end of a walking beam and a second distance measuring mechanism arranged at the second end of the walking beam;
the first distance measuring mechanism is used for measuring a first distance between the first end of the walking beam and a first side supporting beam target position, and the second distance measuring mechanism is used for measuring a second distance between the second end of the walking beam and a second side supporting beam target position;
the control system obtains numerical values of the first distance and the second distance, judges one end behind the walking according to the first distance value and the second distance value, and adjusts the output of the driving mechanism at one end behind the walking to be smaller than the output at one side of the opposite end so as to reduce the braking speed at the end behind the walking and realize the homotopic braking at the two ends of the walking beam.
In some embodiments of the invention:
the first driving mechanism comprises a first band-type brake motor and comprises a first motor main body and a first band-type brake mechanism, and the second driving mechanism comprises a second band-type brake motor and comprises a second motor main body and a second band-type brake mechanism;
the first power supply is electrically connected to the first motor main body, the first band-type brake mechanism, the second motor main body, the second band-type brake mechanism and the control system;
the second power supply is electrically connected to the first band-type brake mechanism, the second band-type brake mechanism and the control system;
the control system is configured to control the corresponding end to walk through the output of the first band-type brake mechanism and the second band-type brake mechanism when the second power supply works.
In some embodiments of the invention:
the first ranging mechanism includes: the laser range finder is arranged at the first end of the walking beam, and the first reflector is arranged at the target position of the first side supporting beam;
the second ranging mechanism includes: the laser range finder is arranged at the second end of the walking beam, and the second reflecting plate is arranged at the target position of the support beam at the second side.
In some embodiments of the invention: the first side supporting beam target position and the second side supporting beam target position are located at the same parallel position, and the same parallel position is as follows:
the first side supporting beam and the second side supporting beam are arranged in parallel, and when the walking beam is perpendicular to the first side supporting beam and the second side supporting beam, the distance between the first reflecting plate and the first end of the walking beam is equal to the distance between the second reflecting plate and the second end of the walking beam.
In some embodiments of the invention: the first target position and the second target position are both positioned in front of the walking beam in the walking direction (corresponding target positions can also be set in two directions of the walking direction), and the distance measured by the first distance measuring mechanism and the distance measured by the second distance measuring mechanism are both fed back to the control system; the control system is configured to detect a position of the traveling member on the traveling beam, and when the connection between the first power source and the driving mechanism is communicated, adjust outputs of the first driving mechanism and the second driving mechanism so that an output of the driving mechanism on a side of a smaller distance of the first distance and the second distance is greater than an output on a side of the smaller distance of the first distance and the second distance.
In some embodiments of the invention: the control system is further configured to adjust the output of the first and second drive mechanisms such that the travel beam stops moving when the first and second distances are equal.
In some embodiments of the present invention, a method for controlling the travel of a gantry mechanism is further provided, which includes the following steps:
when the commercial power supplies power, the first power supply is connected with the driving mechanism;
when the commercial power is cut off, the second power supply is connected with the driving mechanism;
the control system can respectively adjust the output of the first driving mechanism and the output of the second driving mechanism when the mains supply is powered on and the mains supply is powered off, and therefore the homotopic braking of the first end and the second end of the walking beam is achieved.
In some embodiments of the invention: the control system adjusts and judges the walking lagging end according to the first distance and the second distance, and the output of the driving mechanism at the walking lagging end is adjusted to be larger than that at one side of the opposite end.
In some embodiments of the invention, the control system is configured to continuously or intermittently output a power supply signal to the contracting brake mechanism at one end after walking when the second power supply is operated, and control the walking end to walk to a first distance equal to the second distance.
The gantry traveling mechanism and the traveling control method thereof provided by the invention have the beneficial effects that:
the gantry traveling mechanism and the traveling control method provided by the invention can keep continuous power supply to the driving mechanism under the conditions of normal power supply and abnormal power failure, adjust the power on-off time of the mechanical band-type brakes of the motors at two sides, and realize synchronous braking stop at two sides of the traveling beam.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flow chart of a gantry traveling mechanism.
Fig. 2 is a schematic diagram of power supply of the power supply system.
Fig. 3 is a flow chart of gantry walking control.
101-a first side support beam, 102-a second side support beam, 103-a support beam;
2-walking beam, 201-walking beam first end, 202-walking beam second end;
3-an electric box;
4-a walking member;
501-a first laser range finder, 502-a first reflector, 503-a second laser range finder, 504-a second reflector.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "disposed on," "connected to" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The terms "first" and "second" are used for descriptive purposes only and are not intended to imply relative importance.
It is to be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and thus are not to be considered limiting of the present invention.
Referring to fig. 1, the invention provides a gantry traveling mechanism, which comprises a traveling rail, a traveling beam, a driving mechanism and a power system.
And (3) walking track: comprises a first side supporting beam 101 and a second side supporting beam 102 which are arranged at intervals; the first side supporting beam 101 and the second side supporting beam 102 are disposed on the ground at the same height, and may be disposed on a plurality of supporting beams 103 disposed at intervals.
The walking beam 2: a first end 201 thereof is disposed on the first side support beam 101, and a second end 202 thereof is disposed on the second side support beam 102; the upper end surfaces of the first side support beam 101 and the second side support beam 102 are provided with traveling rails along the respective length directions of the support beams, and the first end 201 and the second end 202 of the traveling beam 2 are respectively installed in the respective traveling rails so that the traveling beam 2 can travel along the length direction of the support beams. Specifically, pulleys may be disposed at both the first end 201 and the second end 202 of the running rail, and the pulleys run along the running rail.
A driving mechanism: the device comprises a first driving mechanism arranged at a first end 201 of a walking beam and a second driving mechanism arranged at a second end of the walking beam, wherein the first driving mechanism is used for driving the first end of the walking beam to walk along a walking rail, and the second driving mechanism is used for driving the second end of the walking beam to walk along the walking rail;
a power supply system: comprises a first power supply and a second power supply; the first power supply is connected with commercial power and is electrically connected with the first driving mechanism and the second driving mechanism; the second power supply is an energy storage power supply and is electrically connected with the first driving mechanism and the second driving mechanism. The first power supply and the second power supply are integrated in the electrical box 3, the electrical box 3 is disposed on the first end 201 side or the second end 202 side of the walking beam 2, and in this embodiment, the electrical box 3 is disposed on the first end 201 side. In this embodiment, the first driving mechanism and the second driving mechanism are both servo motors, and the respective traveling speeds of the first end 201 and the second end 202 can be controlled by controlling the torque and the rotation speed of the servo motors.
The control system comprises: the first power supply is connected with the driving mechanism when the commercial power is connected, and the second power supply is connected with the driving mechanism when the commercial power is cut off. The first power supply and the second power supply of the power supply system are not simultaneously connected to the first driving mechanism and the second driving mechanism. The first power supply is used for being connected into the first driving mechanism and the second driving mechanism under the condition of normal power supply, and the second power supply is connected into the first driving mechanism and the second driving mechanism under the condition of abnormal power failure. The control system may control the first and second drive mechanisms, respectively, to adjust the control scheme for the first and second drive mechanisms based on the weight of the first and second ends 201, 202. The dual power supply configuration can make the control system can control the first driving mechanism and the second driving mechanism under normal and abnormal conditions.
Referring to fig. 2, a logic diagram of the power system supplying power to the driving system and the servo system according to some embodiments of the present invention is shown.
The first driving mechanism comprises a first band-type brake motor and a second driving mechanism, wherein the first band-type brake motor comprises a first motor main body and a first band-type brake mechanism; the first band-type brake mechanism is used for controlling the braking of the first end of the walking beam 4, and the second band-type brake mechanism is used for controlling the braking of the second end of the walking beam 4; when the power is off, the contracting brake mechanism acts to tightly hold the motor shaft of the motor main body for braking, and when the power is on simultaneously, the contracting brake mechanism loosens the holding force on the motor main body;
the first power supply is electrically connected to the first motor main body, the first band-type brake mechanism, the second motor main body, the second band-type brake mechanism and the control system;
the second power supply is electrically connected to the first band-type brake mechanism, the second band-type brake mechanism and the control system;
the control system is configured to adjust the clasping force of the band-type brake mechanism on the motor main body through the output of the first band-type brake mechanism and the second band-type brake mechanism when the second power supply works, and the corresponding end of the walking beam 4 is controlled to brake or walk.
The first motor main body and the second motor main body are driven by mains supply and are driven by 380V; the first band-type brake mechanism and the second band-type brake mechanism can be driven independently and are driven by 24V, and the control system is also driven by 24V. Therefore, in this embodiment, the second power supply is a 24V low-voltage ups.
In addition to the above power supply logic structure, in some embodiments, the power supply mode of the power supply system and the brake control mode of the control system may be adjusted according to the selected configuration of the first driving mechanism and the second driving mechanism.
In some embodiments of the invention: the walking beam 2 is provided with a walking part 4, and the walking part 4 can walk along the length direction of the walking beam. The running member 4 can be designed according to the work requirement, and can be a manipulator, for example.
In some embodiments of the invention: the gantry traveling mechanism further comprises:
the distance measuring mechanism comprises: the device comprises a first distance measuring mechanism arranged at the first end of a walking beam and a second distance measuring mechanism arranged at the second end of the walking beam;
the first distance measuring mechanism is used for measuring the distance between the first end of the walking beam 2 and the target position of the first side supporting beam 101 and is defined as a first distance, and the second distance measuring mechanism is used for measuring the distance between the second end of the walking beam 2 and the target position of the second side supporting beam 102 and is defined as a second distance. Specifically, the target positions of the first side supporting beam 101 and the second side supporting beam 102 are located at the same parallel position, for example, the first side supporting beam 101 and the second side supporting beam 102 are arranged in parallel and are equal in length, the two target positions are respectively arranged at the end portions of the first side supporting beam 101 and the second side supporting beam 102, a connecting line between the first target position and the second target position is perpendicular to the supporting beams at both sides, and in a default case, the walking beam 2 is also perpendicular to the supporting beams at both sides.
In some embodiments of the invention:
the first ranging mechanism includes: the first laser range finder 501 is arranged at the first end 201 of the walking beam, and the first reflector 502 is arranged at the target position of the first side supporting beam 101;
the second ranging mechanism includes: a second laser range finder 503 disposed at the second end 202 of the walking beam, and a second reflector 504 disposed at the target position of the second side supporting beam 102.
The same parallel position is:
the first side support beam 101 and the second side support beam 102 are arranged in parallel, and when the walking beam is perpendicular to the first side support beam 101 and the second side support beam 102, the distance between the first reflector 502 and the first end 201 of the walking beam is equal to the distance between the second reflector 504 and the second end 202 of the walking beam.
The distance measured by the first laser ranging mechanism and the distance measured by the second laser ranging mechanism can reflect whether the walking beam 2 has a movement deviation. The aforementioned motion deviation is caused by the problems of slipping, abnormal braking, unbalanced weight at both ends of the walking beam 4, etc. of the friction wheel. And a laser range finder is added to monitor the brake distance data of the two sides in real time and correct the data.
In some embodiments of the invention: the distance measured by the first distance measuring mechanism and the distance measured by the second distance measuring mechanism are both fed back to the control system; the control system is configured to detect the position of the running gear 4 on the running beam 2 and to adjust the output of the double-sided drive mechanism.
In some embodiments of the present invention, a method for controlling the travel of a gantry mechanism is further provided, which includes the following steps:
when the commercial power supplies power, the first power supply is connected with the driving mechanism;
when the commercial power is cut off, the second power supply is connected with the driving mechanism;
the control system can respectively adjust the output of the first driving mechanism and the output of the second driving mechanism when the mains supply is powered on and the mains supply is powered off, and therefore the homotopic braking of the first end and the second end of the walking beam is achieved. The homothetic braking is the homothetic braking in the horizontal direction, and means that the first end and the second end of the walking beam reach the relatively same braking position, which can be understood as reaching the parallel position with the initial walking position of the walking beam.
In particular, the control method is used for adjusting the walking beam 2 under the condition of normal power supply braking or abnormal state braking, particularly the motion under the condition of abnormal state braking,
the control system obtains the numerical values of the first distance and the second distance, judges which end is the end behind the walking in the two ends of the walking beam 4 according to the first distance value and the second distance value, and adjusts the output of the driving mechanism at the end behind the walking to be larger than the output at one side of the opposite end. Taking the example that the first reflector 502 and the second reflector 504 are both disposed in the traveling direction of the traveling beam 4, the end behind the traveling direction is the larger one of the first distance and the second distance. When the output of the driving mechanism at the lagging end is larger than that at the other end, the motion of the lagging end can follow the motion of the other end, and finally, the two-side homotopic braking is realized.
Take the unusual outage condition as an example, the mechanical band-type brake automatic start of motor, if walking piece 4 and electronic box 3 were in same one side this moment, 2 left and right sides weight of walking beam are serious unbalance, and the motor of the left and right sides is same model specification, and the band-type brake output braking moment of torsion is also the same, because the difference of weight, the braking acceleration of the left and right sides is different, leads to the left and right sides braking distance different, and walking beam 2 can take place serious skew.
At this time, because the heavier end has larger inertia, after the power failure, the user still continues to walk forward until the speed is zero, taking the heavier side as the first end of the walking beam 4 as an example, at this time, the first distance is smaller than the second distance, and the second end of the walking beam 4 is the walking lagging end. At the moment, the second power supply works to output electric energy to the second band-type brake mechanism and the control system, so that the second band-type brake mechanism loosens the holding force on the second motor main body, the walking can continue to walk forwards, the braking distance on the side is prolonged, the movement of the second end of the walking beam 4 is convenient to gradually adjust, and the second end of the walking beam is gradually close to the position where the first end is horizontally located.
The adjustment aims to obtain data of the first distance and the second distance in real time, when the first distance is equal to the second distance, the walking beam brakes synchronously on two sides, and the second power supply stops outputting electric energy to the second band-type brake mechanism.
The gantry traveling mechanism and the traveling control method provided by the invention can keep continuous power supply to the driving mechanism under the conditions of normal power supply and abnormal power failure, adjust the power-on and power-off time of the mechanical band-type brakes of the motors at two sides, and realize the homotopic brake stop at two sides of the traveling beam 4.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A gantry traveling mechanism is characterized by comprising:
and (3) walking track: the device comprises a first side supporting beam and a second side supporting beam which are arranged at intervals;
a walking beam: the first end of the first side supporting beam is arranged on the first side supporting beam, and the second end of the first side supporting beam is arranged on the second side supporting beam;
a driving mechanism: the first driving mechanism is used for driving the first end of the walking beam to walk along the walking rail, and the second driving mechanism is used for driving the second end of the walking beam to walk along the walking rail;
a power supply system: comprises a first power supply and a second power supply; the first power supply is connected with commercial power and is electrically connected with the first driving mechanism and the second driving mechanism; the second power supply is an energy storage power supply and is electrically connected with the first driving mechanism and the second driving mechanism;
the control system comprises: the first power supply is connected with the driving mechanism when the commercial power is connected, and the second power supply is connected with the driving mechanism when the commercial power is cut off; the control system is further electrically connected with the first driving mechanism and the second driving mechanism and respectively adjusts the output of the first driving mechanism and the output of the second driving mechanism.
2. The gantry crane of claim 1, wherein the gantry crane further comprises:
the distance measuring mechanism comprises: the device comprises a first distance measuring mechanism arranged at the first end of a walking beam and a second distance measuring mechanism arranged at the second end of the walking beam;
the first distance measuring mechanism is used for measuring a first distance between the first end of the walking beam and a first side supporting beam target position, and the second distance measuring mechanism is used for measuring a second distance between the second end of the walking beam and a second side supporting beam target position;
the control system obtains numerical values of the first distance and the second distance, judges one end behind the walking according to the first distance value and the second distance value, and adjusts the output of the driving mechanism at one end behind the walking to be smaller than the output at one side of the opposite end so as to reduce the braking speed at the end behind the walking and realize the homotopic braking at the two ends of the walking beam.
3. Gantry crane according to claim 1 or 2, characterized in that:
the first driving mechanism comprises a first band-type brake motor and comprises a first motor main body and a first band-type brake mechanism, and the second driving mechanism comprises a second band-type brake motor and comprises a second motor main body and a second band-type brake mechanism;
the first power supply is electrically connected to the first motor main body, the first band-type brake mechanism, the second motor main body, the second band-type brake mechanism and the control system;
the second power supply is electrically connected to the first band-type brake mechanism, the second band-type brake mechanism and the control system;
the control system is configured to control the corresponding end to walk through the output of the first band-type brake mechanism and the second band-type brake mechanism when the second power supply works.
4. A gantry crane of claim 2, wherein:
the first ranging mechanism includes: the laser range finder is arranged at the first end of the walking beam, and the first reflector is arranged at the target position of the first side supporting beam;
the second ranging mechanism includes: the laser range finder is arranged at the second end of the walking beam, and the second reflecting plate is arranged at the target position of the support beam at the second side.
5. A gantry crane according to claim 2 or 4, wherein the first side support beam target location and the second side support beam target location are in the same parallel position:
the first side supporting beam and the second side supporting beam are arranged in parallel, and when the walking beam is perpendicular to the first side supporting beam and the second side supporting beam, the distance between the first reflecting plate and the first end of the walking beam is equal to the distance between the second reflecting plate and the second end of the walking beam.
6. A gantry crane according to claim 2, 4 or 5, wherein the first and second target locations are located forward in the direction of travel of the walking beam.
7. The gantry crane according to claim 1, wherein the walking beam is provided with a walking member, and the walking member can walk along the length direction of the walking beam.
8. A walking control method of a gantry walking mechanism is based on the gantry walking mechanism of any one of claims 1 to 7, and is characterized by comprising the following steps:
when the commercial power supplies power, the first power supply is connected with the driving mechanism;
when the commercial power is cut off, the second power supply is connected with the driving mechanism;
the control system can respectively adjust the output of the first driving mechanism and the output of the second driving mechanism when the mains supply is powered on and the mains supply is powered off, and therefore the homotopic braking of the first end and the second end of the walking beam is achieved.
9. The method as claimed in claim 8, wherein the control system determines the end behind the walking by adjusting the first distance and the second distance, and adjusts the output of the driving mechanism at the end behind the walking to be smaller than the output at the opposite end side, so as to reduce the braking speed at the end behind the walking.
10. A walking control method for a gantry crane according to claim 8 or 9, wherein the control system is configured to continuously or intermittently output a power signal to the internal contracting brake mechanism at one end after walking when the second power supply is operated, and control the one end after walking to walk to a first distance equal to the second distance.
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| CN202110365992.8A CN113104739A (en) | 2021-04-06 | 2021-04-06 | Gantry traveling mechanism and traveling control method |
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| CN202110365992.8A CN113104739A (en) | 2021-04-06 | 2021-04-06 | Gantry traveling mechanism and traveling control method |
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| 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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| CN204256462U (en) * | 2014-10-24 | 2015-04-08 | 武桥重工集团股份有限公司 | Gantry scanning support precise positioning electric control system |
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| CN110872056A (en) * | 2019-12-18 | 2020-03-10 | 湖南天桥嘉成智能科技有限公司 | High-precision heavy-load carrying operation equipment |
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- 2021-04-06 CN CN202110365992.8A patent/CN113104739A/en not_active Withdrawn
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| CN102815619A (en) * | 2012-09-06 | 2012-12-12 | 大连启天自动化控制系统有限公司 | Outage brake buffering protection system for crane |
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Application publication date: 20210713 |