CN114104981B

CN114104981B - Door machine grab bucket anti-swing system

Info

Publication number: CN114104981B
Application number: CN202111450973.1A
Authority: CN
Inventors: 吴宇震; 栾纪弢; 郝健; 刘金旭; 纪辉; 尹可晖
Original assignee: Shandong Chaohui Automation Technology Co ltd; Shandong Port Bohai Bay Port Group Co ltd
Current assignee: Shandong Chaohui Automation Technology Co ltd; Shandong Port Bohai Bay Port Group Co ltd
Priority date: 2021-12-01
Filing date: 2021-12-01
Publication date: 2023-09-26
Anticipated expiration: 2041-12-01
Also published as: CN114104981A

Abstract

The invention discloses a door machine grab bucket anti-swing system which comprises an anti-swing controller, a moment limiter, a PLC (programmable logic controller), a supporting driver, an opening and closing driver, a pitching driver, a slewing driver, a supporting encoder, an opening and closing encoder, a pitching encoder and a slewing encoder. The beneficial effects of the invention are as follows: 1) Human factors are eliminated, and equipment damage and low efficiency caused by insufficient level of operators are avoided. 2) The system collects and processes various data, and the continuous motion model is utilized, so that the anti-swing performance of the grab bucket of the door machine is greatly improved, the door machine can stably operate, and the efficiency and the safety are improved.

Description

Door machine grab bucket anti-swing system

Technical Field

The invention relates to the technical field of cranes, in particular to a gantry crane grab bucket anti-swing system.

Background

The grab bucket of the gantry crane is flexibly connected with a steel wire rope, can move up and down, back and forth and move left and right circularly (the movement track is arc-shaped) under the drive of the steel wire rope, is easy to swing in the process of the grab bucket movement, and can cause generation accidents when exceeding the range of swing. The traditional portal crane adopts a manual operation mode, and in the operation process, a person controls the grab bucket to reduce swing by virtue of experience, so that the anti-rolling effect is different from person to person. In order to ensure the safety of equipment and improve the working efficiency, the invention discloses a set of anti-shaking and anti-shaking system for a grab bucket of a door machine.

Disclosure of Invention

The invention aims to provide a door machine grab bucket anti-swing system which aims to solve the problems in the background technology.

In order to achieve the above purpose, the present invention provides the following technical solutions:

the utility model provides a door machine grab bucket anti-shake system, including anti-shake controller, moment limiter, the PLC controller, support driver, the switching driver, every single move driver, gyration driver, support encoder, switching encoder, every single move encoder and gyration encoder, anti-shake controller connects the PLC controller, the PLC controller still connects moment limiter respectively, support driver, switching driver, every single move driver and gyration driver, support driver still connects support encoder, switching driver still connects switching encoder, every single move driver still connects every single move encoder, gyration driver still connects gyration encoder, the PLC controller sends target position, primary command, real-time speed, real-time position etc. to anti-shake controller, anti-shake controller is according to grab bucket motion model, match adjustment mechanism action command, produce final command and send to the PLC controller, the PLC controller is forwarded to each mechanism driver, drive door machine operation, after the system confirms the model will match real-time position, confirm the conversion setting of primary command, then will primary command change final command, output to the final command, the relative motion control system steady grab bucket motion control factor.

As a further technical scheme of the invention, the data processing module of the anti-shake controller comprises model selection, position matching and speed control.

As a further technical scheme of the invention, the model selection module determines the operation mode of the grab bucket, wherein the grab bucket moves up and down, the grab bucket moves back and forth, the grab bucket moves left and right, the grab bucket is in two-dimensional linkage and the grab bucket is in three-dimensional linkage.

As a further technical scheme of the invention, the model selection module supports open-close position and moment limiter data and determines the open-close state of the grab bucket.

As a further aspect of the present invention, the primary instructions include speed and direction.

As a further aspect of the present invention, the torque limiter data is grapple weight.

As a further technical scheme of the invention, the model of the PLC is AH500.

Compared with the prior art, the invention has the beneficial effects that: 1) Human factors are eliminated, and equipment damage and low efficiency caused by insufficient level of operators are avoided. 2) The system collects and processes various data, and the continuous motion model is utilized, so that the anti-swing performance of the grab bucket of the door machine is greatly improved, the door machine can stably operate, and the efficiency and the safety are improved.

Drawings

Fig. 1 is a system diagram of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, a door machine grab bucket anti-rolling system comprises an anti-rolling controller, a moment limiter, a PLC controller, a supporting driver, an opening and closing driver, a pitching driver, a slewing driver, a supporting encoder, an opening and closing encoder, a pitching encoder and a slewing encoder, wherein the anti-rolling controller is connected with the PLC controller, the PLC controller is also respectively connected with the moment limiter, the supporting driver, the opening and closing driver, the pitching driver and the slewing driver, the supporting driver is also connected with the supporting encoder, the opening and closing driver is also connected with the opening and closing encoder, the pitching driver is also connected with the pitching encoder, the slewing driver is also connected with the slewing encoder, the PLC controller sends a target position, a primary command (speed and direction), a real-time speed, a real-time position and the like to the anti-rolling controller, the anti-rolling controller matches an action command of an adjusting mechanism according to a grab bucket movement model, generates a final command and sends the final command to each mechanism driver of the door machine, the PLC forwards the PLC to the door machine, a driving operation is performed, and a data processing module of the anti-rolling controller comprises modules such as model selection, position matching and speed control. The model selection module determines the operation mode of the grab bucket, the grab bucket moves up and down, the grab bucket moves back and forth, the grab bucket moves left and right, the grab bucket moves in two dimensions and moves in three dimensions, and meanwhile, the opening and closing states of the grab bucket are determined according to the supporting opening and closing positions and the moment limiter data. After the system determines the model, the real-time position is matched, the transformation setting of the current position on the primary instruction is determined, then the primary instruction is transformed into a final instruction, and the final instruction is output to the PLC. The system comprehensively processes relevant factors of grab bucket movement and controls the grab bucket to run stably.

In embodiment 2, based on embodiment 1, the model of the PLC controller is AH500, and the performance is stable and the functions are powerful.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims

1. The door machine grab bucket anti-swing system comprises an anti-swing controller, a moment limiter, a PLC controller, a supporting driver, an opening and closing driver, a pitching driver, a swinging driver, a supporting encoder, an opening and closing encoder, a pitching encoder and a swinging encoder, and is characterized in that the anti-swing controller is connected with the PLC controller, the PLC controller is also respectively connected with the moment limiter, the supporting driver, the opening and closing driver, the pitching driver and the swinging driver, the supporting driver is also connected with the supporting encoder, the opening and closing driver is also connected with the opening and closing encoder, the pitching driver is also connected with the pitching encoder, the swinging driver is also connected with the swinging encoder, the PLC controller sends a target position, a primary command, a real-time speed and a real-time position to the anti-swing controller, the anti-swing controller generates a final command to the PLC controller according to a grab bucket motion model, the PLC controller forwards the final command to each mechanism driver, the driving operation is carried out, after the system determines the model, the conversion setting of the primary command is determined, then the primary command is converted into the final command, and the primary command is output to the controller to handle the relative PLC system which moves smoothly and controls the grab bucket;

the data processing module of the anti-shake controller comprises a model selection module, a position matching module and a speed control module;

the model selection module determines the operation mode of the grab bucket, wherein the grab bucket moves up and down, the grab bucket moves back and forth, the grab bucket moves left and right, the grab bucket is in two-dimensional linkage and the grab bucket is in three-dimensional linkage;

the model selection module supports open-close position and moment limiter data and determines the open-close state of the grab bucket;

the primary instructions include speed and direction;

the moment limiter data is grab bucket weight;

the model of the PLC controller is AH500.