CN114933244A - Intelligent correction device and method for steel wire rope of unmanned grab overhead crane - Google Patents

Intelligent correction device and method for steel wire rope of unmanned grab overhead crane Download PDF

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Publication number
CN114933244A
CN114933244A CN202210771859.7A CN202210771859A CN114933244A CN 114933244 A CN114933244 A CN 114933244A CN 202210771859 A CN202210771859 A CN 202210771859A CN 114933244 A CN114933244 A CN 114933244A
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Prior art keywords
wire rope
steel wire
axis
trolley
detection
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Chinese (zh)
Inventor
曲学良
张春萌
林春浩
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Dalian Mh Times Technology Co ltd
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Dalian Mh Times Technology Co ltd
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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
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • 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
    • B66C13/46—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
    • B66C15/00—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention discloses an intelligent correction device and method for steel wire ropes of an unmanned grab crane, wherein a first electronic detection device is used for acquiring a first detection signal, a second electronic detection device is used for acquiring a second detection signal, and a PLC (programmable logic controller) system controls a cart frequency converter and a trolley frequency converter to drive a cart travelling mechanism and a trolley travelling mechanism to move according to the first detection signal and the second detection signal respectively, so that the positions of the first steel wire rope, a third steel wire rope, the second steel wire rope and a fourth steel wire rope are corrected. The invention can prevent the steel wire rope from going out of the groove when the grab bucket is lifted, avoid askew pulling and inclined hanging, improve the working efficiency and ensure the full bucket rate. The safe operation of the equipment is guaranteed, the wire and rope breakage caused by the inclined pulling and inclined hanging of the steel wire rope is effectively protected, the service life is shortened, and the maintenance cost is saved.

Description

Intelligent correction device and method for steel wire rope of unmanned grab overhead crane
Technical Field
The invention relates to the technical field of cranes, in particular to an intelligent correction device and method for a steel wire rope of an unmanned grab bucket overhead travelling crane.
Background
The unmanned grab crane goes to the designated material pile position to grab materials, and due to different material pile forms below the crown block, the posture of the grab bucket falling into the material pile is difficult to predict, so that the problems of inclination of the grab bucket and oblique pulling of a steel wire rope are easy to occur. At the moment, if the overhead travelling crane continues to grab materials without any adjustment, the steel wire rope is easy to be out of the groove and even the steel wire rope is wound and broken, the equipment safety is seriously influenced, the maintenance cost is increased, and the production efficiency is reduced.
In the prior art, a detection device needs to be additionally arranged below a winding drum, the steel wire rope touches the detection device after being inclined, the position of the installed detection device is fixed and is inconvenient to adjust, the detection device can be touched only when the steel wire rope is inclined to a certain angle, and time and labor are wasted during actual installation and debugging on site; moreover, the existing detection device can intelligently judge the left and right inclination of the grab bucket in a multidimensional way, and the inclination of the front and back directions of the grab bucket can cause safety accidents. Therefore, a device capable of detecting and adjusting the inclination direction of the steel wire rope connected with the grab bucket in all directions is needed.
Disclosure of Invention
The invention provides an intelligent correction device and method for a steel wire rope of an unmanned grab bucket overhead travelling crane, which aim to overcome the technical problems.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the utility model provides a device is corrected to unmanned grab bucket overhead traveling crane wire rope intelligence, includes: the system comprises a first electronic detection device, a second electronic detection device, a cart frequency converter, a trolley frequency converter and a PLC system;
the first electronic detection device is used for acquiring a first detection signal, and the first detection signal comprises an offset signal of a first steel wire rope arranged on a switching mechanism winding drum and an offset signal of a third steel wire rope arranged on a hoisting mechanism winding drum (500); the first wire rope/third wire rope deviation signal is a signal when the first wire rope/third wire rope and a first detection area of the first electronic detection device have an intersection point;
the second electronic detection device is used for acquiring a second detection signal, and the second detection signal comprises an offset signal of a second steel wire rope arranged on the opening and closing mechanism winding drum and an offset signal of a fourth steel wire rope arranged on the hoisting mechanism winding drum; the offset signal of the second steel wire rope/the fourth steel wire rope is a signal when the second steel wire rope/the fourth steel wire rope and a second detection area of the second electronic detection device have an intersection point;
the PLC system respectively acquires a first detection signal and a second detection signal so as to respectively realize real-time monitoring on the working states of the first steel wire rope, the third steel wire rope, the second steel wire rope and the fourth steel wire rope;
and the PLC system controls the cart frequency converter and the trolley frequency converter according to the first detection signal and the second detection signal respectively, so that the cart travelling mechanism and the trolley travelling mechanism are driven to move through the cart frequency converter and the trolley frequency converter respectively, and the positions of the first steel wire rope, the third steel wire rope, the second steel wire rope and the fourth steel wire rope are corrected.
Further, the device also comprises a first intermediate relay K1 and a third intermediate relay K3;
the PLC system acquires a first detection signal through the first intermediate relay K1; the working states of the first steel wire rope and the third steel wire rope are monitored in real time;
and the PLC system acquires a second detection signal through the third intermediate relay K3 to realize real-time monitoring of the working states of the second steel wire rope and the fourth steel wire rope.
Further, the device also comprises a second intermediate relay K2 and a fourth intermediate relay K4;
the PLC system acquires a first fault detection signal of a first electronic detection device through the second intermediate relay K2 so as to realize real-time monitoring on the fault state of the first electronic detection device;
and the PLC system acquires a second fault detection signal of a second electronic detection device through the fourth intermediate relay K4 so as to realize real-time monitoring on the fault state of the second electronic detection device.
Furthermore, the first electronic detection device and the second electronic detection device are both common laser 2D sensors.
Furthermore, the first electronic detection device and the second electronic detection device are both fixed below the end part of one side, provided with the hoisting mechanism winding drum, of the trolley travelling mechanism.
An intelligent correction method of an intelligent correction device for a steel wire rope of an unmanned grab bucket overhead travelling crane comprises the following steps:
s1: establishing a rectangular coordinate system by taking the position of a first electronic detection device as a coordinate origin 0, taking the detection direction of the first electronic detection device parallel to the main beam as the positive direction of an x axis, the direction facing the second electronic detection device as the positive direction of a y axis, and the vertical downward direction as the positive direction of a z axis;
s2: setting the farthest detection distance D of the first/second electronic detection device max Nearest detection distance D of first/second electronic detection device min The distance Borderup between the highest detection point of the first/second electronic detection device and the ground and the distance Border between the lowest detection point of the first/second electronic detection device and the ground down Determining a first detection area of a first electronic detection device and a second detection area of a second electronic detection device;
s3: judging the running direction of the cart travelling mechanism according to whether the intersection point of the first steel wire rope/the third steel wire rope and the first detection area and the intersection point of the second steel wire rope/the fourth steel wire rope and the second detection area exist or not;
s4: coordinates A (x) of intersection points of the first wire rope/the third wire rope and the first detection area A ，y A ，z A ) And coordinates of intersection point of the second/fourth wire ropes and the second detection areaB(x B ，y B ，z B ) Judging the traveling direction of the trolley;
s5: the cart travelling mechanism operates according to the operation logic of the cart travelling mechanism so as to correct the deviation of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope in the cart track direction;
s6: and the trolley travelling mechanism operates according to the operation logic of the trolley travelling mechanism so as to correct the deviation of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope in the direction of the trolley track.
Further, in S3, the method of determining the traveling direction of the cart traveling mechanism is as follows:
if the intersection point coordinate A (x) of the first wire rope/the third wire rope and the first detection area exists A ，y A ，z A ) Then the cart traveling mechanism moves towards the y-axis negative direction;
if the intersection point coordinate B (x) of the second wire rope/the fourth wire rope and the second detection area exists B ，y B ，z B ) Then the cart traveling mechanism moves towards the positive direction of the y axis;
otherwise, the cart travelling mechanism does not move;
wherein the first detection area is set as:
Figure BDA0003724484560000041
in the formula: x is a radical of a fluorine atom A The coordinate of the intersection point A on the x axis is; y is A The coordinate of the intersection point A on the y axis is shown; z is a radical of A The coordinate of the intersection point A on the z axis is obtained; x is the number of 4 Is the maximum coordinate of the first detection region/the second detection region on the x-axis, x 4 ＝D max ；x 3 Is the minimum coordinate of the first detection region/the second detection region on the x-axis, x 3 ＝D min ；y 1 Coordinates of the first detection area/the second detection area on the y axis; z is a radical of formula 1 Is the minimum coordinate of the first detection region/the second detection region on the z-axis, z 1 ＝D-Borderup；z 2 Is a first detection regionMaximum coordinate in z-axis of second detection area, z 2 ＝D-Border down (ii) a Wherein D is the distance between the first electronic detection device/the second electronic detection device and the ground; x is the number of a Coordinates of any point in the first detection area on the x axis; y is a Coordinates of any point in the first detection area on the y axis; z is a radical of a The coordinate of any point in the first detection area on the z axis is obtained;
the second detection area is set as follows:
Figure BDA0003724484560000042
in the formula: x is the number of B The coordinate of the intersection point B on the x axis is; y is B The coordinate of the intersection point B on the y axis is shown; z is a radical of B The coordinate of the intersection point B on the z axis is; x is the number of 4 Is the maximum coordinate of the first detection region/the second detection region on the x-axis, x 4 ＝D max ；x 3 Is the minimum coordinate of the first detection region/the second detection region on the x-axis, x 3 ＝D min ；y 1 Coordinates of the first detection area/the second detection area on the y axis; z is a radical of 1 Is the minimum coordinate of the first detection region/the second detection region on the z-axis, z 1 ＝D-Borderup；z 2 Is the maximum coordinate of the first detection region/the second detection region on the z-axis, z 2 ＝D-Border down (ii) a Wherein D is the distance between the first electronic detection device/the second electronic detection device and the ground; x is the number of b Coordinates of any point in the second detection area on the x axis; y is b Coordinates of any point in the second detection area on the y axis; z is a radical of b Detecting the coordinate of any point in the area on the z-axis; y is j The coordinates of the second electronic detection means on the y-axis.
Further, in S4, the method for determining the traveling direction of the cart traveling mechanism includes:
if x is present 2 ≤x A ≤x 4 Or x 2 ≤x B ≤x 4 When the trolley moves, the trolley travelling mechanism moves to the positive direction of the x axis;
if x is present 3 ≤x A ≤x 1 Or
Figure BDA0003724484560000051
When the trolley moves, the trolley travelling mechanism moves towards the negative direction of the x axis;
otherwise, the trolley travelling mechanism does not move.
Wherein: x is the number of 1 Is the coordinate, x, of the third/fourth wire rope in the x-axis direction 2 Is the coordinate of the first/second wire rope in the x-axis direction.
Further, in S5, the operation logic of the cart traveling mechanism is:
when there is the coordinate A (x) of the intersection point of the first/third steel wire ropes and the first detection area A ，y A ，z A ) When the trolley is driven to move in the y-axis negative direction, a first intermediate relay K1 is actuated, a first intermediate relay signal is transmitted to the PLC system, the PLC system controls the trolley frequency converter to rotate in the clockwise direction, and the trolley motor drives the trolley travelling mechanism to move in the y-axis negative direction;
when there is the coordinate B (x) of the intersection point of the second/fourth wire ropes and the second detection area B ，y B ，z B ) When the cart is in use, the third intermediate relay K3 is sucked, a signal of the third intermediate relay is transmitted to the PLC system, the PLC system controls the cart frequency converter to rotate along the anticlockwise direction, and the cart motor drives the cart travelling mechanism to move towards the positive direction of the y axis;
otherwise, the cart travelling mechanism does not move.
Further, in S6, the operation logic of the trolley travelling mechanism is as follows:
if x is present 2 ≤x A ≤x 4 When the trolley is in operation, the first intermediate relay K1 is closed, a signal of the first intermediate relay is transmitted to the PLC system, the PLC system controls the trolley frequency converter to rotate along the anticlockwise direction, and the trolley motor drives the trolley travelling mechanism to move along the positive direction of the x axis;
or x 2 ≤x B ≤x 4 Then, the third intermediate relay K3 is sucked, the signal of the third intermediate relay is transmitted to the PLC system, and the signal of the third intermediate relay is transmitted to the PLC systemThe PLC system controls the trolley frequency converter to rotate along the anticlockwise direction, and the trolley motor drives the trolley travelling mechanism to move along the positive direction of an x axis;
if x is present 3 ≤x A ≤x 1 When the trolley is driven to move along the negative direction of the x axis, a first intermediate relay K1 is attracted, a first intermediate relay signal is transmitted to a PLC system, the PLC system controls the trolley frequency converter to rotate along the clockwise direction, and the trolley motor drives the trolley travelling mechanism to move along the negative direction of the x axis;
if x is present 3 ≤x B ≤x 1 When the trolley is driven to move along the negative direction of the x axis, a third intermediate relay K3 is actuated, a signal of the third intermediate relay is transmitted to the PLC system, the PLC system controls the trolley frequency converter to rotate along the clockwise direction, and the trolley motor drives the trolley travelling mechanism to move along the negative direction of the x axis;
otherwise, the trolley travelling mechanism does not move.
Has the advantages that:
the invention provides an intelligent correction device and method for a steel wire rope of an unmanned grab overhead crane. The steel wire rope is prevented from being out of the groove when the grab bucket is lifted, the askew pulling and inclined hanging is avoided, the working efficiency is improved, and the full bucket rate is ensured. The safe operation of the equipment is guaranteed, the wire and rope breakage caused by the inclined pulling and inclined hanging of the steel wire rope is effectively protected, the service life is shortened, and the maintenance cost is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a front view of an intelligent correction device for a steel wire rope of a crown block in an embodiment of the invention;
FIG. 2 is a side view of an intelligent correction device for a crown block wire rope according to an embodiment of the present invention;
FIG. 3 is an oblique view of an intelligent correction device for a crown block steel wire rope according to an embodiment of the present invention;
FIG. 4 is a PLC system control schematic diagram of an intelligent correction device for a steel wire rope of a crown block in the embodiment of the invention;
fig. 5 is a schematic signal acquisition diagram of an intelligent correction device for a steel wire rope of an overhead travelling crane in an embodiment of the invention;
fig. 6 is a flowchart illustrating an implementation of the intelligent correction device for a steel wire rope of an overhead traveling crane according to an embodiment of the present invention.
Wherein: 100. a cart traveling mechanism; 101. a cart track; 200. a trolley travelling mechanism; 102. a main beam; 300. a grab bucket; 201. a trolley rail; 400. an opening and closing mechanism reel; 500. a hoisting mechanism drum; 401. a first wire rope; 402. a second wire rope; 501. a third wire rope; 502. a fourth wire rope; 601. a first electronic detection device; 602. a second electronic detection device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
In this embodiment, a crane PLC system, an intermediate relay, and a frequency converter of a large crane mechanism and a small crane mechanism are combined to realize the function of automatically correcting when an unmanned crane deflects a grab bucket steel wire rope.
An intelligent correction device for a steel wire rope of an unmanned grab crane, as shown in fig. 1-5, comprises: a cart travelling mechanism 100, a cart track 101, a cart motor, a trolley travelling mechanism 200, a trolley motor and a grab bucket 300; the cart track 101 is erected above the operation area; the cart travelling mechanism 100 is driven by a cart motor to move along the cart track 101; the cart travelling mechanism 100 is provided with a main beam 102 vertical to a cart track 101; a trolley track 201 is arranged on the main beam 102; the trolley travelling mechanism 200 is driven by a trolley motor to move along the trolley track 201; the trolley travelling mechanism 200 is fixedly provided with a switching mechanism winding drum 400 and a hoisting mechanism winding drum 500; a first steel wire rope 401 and a second steel wire rope 402 are arranged on the opening and closing mechanism winding drum 400, and the other ends of the first steel wire rope 401 and the second steel wire rope 402 are connected with the grab bucket 300, so that the opening and closing states of the grab bucket 300 are realized; a third steel wire rope 501 and a fourth steel wire rope 502 are arranged on the hoisting mechanism winding drum 500, and the other ends of the third steel wire rope 501 and the fourth steel wire rope 502 are connected with the grab bucket 300, so that the lifting state of the grab bucket 300 is realized; the method comprises the following steps: a first electronic detection device 601, a second electronic detection device 602, a cart frequency converter, a trolley frequency converter and a PLC system; a first intermediate relay K1, a third intermediate relay K3;
the first electronic detection device 601 and the second electronic detection device 602 are both fixedly arranged below the trolley travelling mechanism 200; the first electronic detection device 601 is configured to obtain a first detection signal, where the first detection signal includes an offset signal of the first wire rope 401 disposed on the opening and closing mechanism drum 400 and an offset signal of the third wire rope 501 disposed on the hoisting mechanism drum 500; the offset signal of the first wire rope 401/the third wire rope 501 is a signal when an intersection point exists between the first wire rope 401/the third wire rope 501 and the first detection area of the first electronic detection device 601;
the second electronic detection device 602 is configured to obtain a second detection signal, where the second detection signal includes an offset signal of the second wire rope 402 disposed on the opening/closing mechanism drum 400 and an offset signal of the fourth wire rope 502 disposed on the hoisting mechanism drum 500; the offset signal of the second steel wire rope 402/the fourth steel wire rope 502 is a signal when an intersection point exists between the second steel wire rope 402/the fourth steel wire rope 502 and the second detection area of the second electronic detection device 602; specifically, the offset signal in this embodiment refers to an offset angle signal between the wire rope and the vertical direction.
The PLC system respectively acquires a first detection signal and a second detection signal so as to respectively monitor the working states of the first steel wire rope 401, the third steel wire rope 501, the second steel wire rope 402 and the fourth steel wire rope 502 in real time;
and the PLC system controls the cart frequency converter and the trolley frequency converter respectively according to the first detection signal and the second detection signal so as to drive the cart travelling mechanism and the trolley travelling mechanism to move respectively through the cart frequency converter and the trolley frequency converter, thereby correcting the positions of the first steel wire rope 401, the third steel wire rope 501, the second steel wire rope 402 and the fourth steel wire rope 502.
Preferably, the PLC system acquires a first detection signal through the first intermediate relay K1; the working states of the first steel wire rope 401 and the third steel wire rope 501 are monitored in real time;
the PLC system acquires a second detection signal through the third intermediate relay K3, and thus, the working states of the second steel wire rope 402 and the fourth steel wire rope 502 are monitored in real time.
Specifically, the first electronic detection device 601 is connected to the first intermediate relay K1; so as to transmit a first detection signal to the first intermediate relay K1, and obtain a first intermediate relay signal;
the first intermediate relay K1 is connected with the PLC system to transmit the first intermediate relay signal to the PLC system, so that the states of the first steel wire rope 401 and the third steel wire rope 501 can be monitored in real time, and a first PLC control signal can be obtained;
the second electronic detection device 602 is connected with the third intermediate relay K3; transmitting a second detection signal to the third intermediate relay K3 to obtain a third intermediate relay signal;
the third intermediate relay K3 is connected with the PLC system to transmit a signal of the third intermediate relay to the PLC system, so as to realize real-time monitoring of the working states of the second steel wire rope 402 and the fourth steel wire rope 502; acquiring a second PLC control signal;
the PLC system is respectively connected with the cart frequency converter and the trolley frequency converter so as to control the cart frequency converter to be opened and closed according to the first PLC control signal; and controlling the trolley frequency converter to be started and stopped according to the second PLC control signal; the specific PLC system in this embodiment is conventional in the art, and is used only for implementing the functions of this embodiment, and will not be described in detail here.
The cart frequency converter is connected with the cart motor;
the trolley frequency converter is connected with the trolley motor.
Preferably, the device also comprises a second intermediate relay K2, a fourth intermediate relay K4; the second intermediate relay K2 is respectively connected with the first electronic detection device 601 and the PLC system to obtain a first fault detection signal of the first electronic detection device 601, and transmit the first fault detection signal to the PLC system to obtain a third PLC control signal;
the fourth intermediate relay K4 is connected to the second electronic detection device 602 and the PLC system, respectively, to obtain a second fault detection signal of the second electronic detection device 602, and transmit the second fault detection signal to the PLC system, so as to obtain a fourth PLC control signal.
Preferably, in this embodiment, the first electronic detection device 601 and the second electronic detection device 602 are both laser 2D sensors. The self-checking function for the fault of the laser 2D sensor in this embodiment is an inherent function of the sensor. The specific parameters are as follows: the alarm effective distance is 8m, the scanning angle is 270 degrees, the angular resolution is 0.5 degree, the response time is 20-220ms, the class I laser personnel safety (IEC60825-1) and the diagnosis information is output through 3 interfaces.
Preferably, the first electronic detection device 601 and the second electronic detection device 602 in this embodiment are both fixed below the end portion of the trolley traveling mechanism 200 on the side where the hoisting mechanism drum 500 is provided.
The embodiment also discloses an intelligent correction method for the steel wire rope of the unmanned grab overhead crane, which comprises the following steps as shown in fig. 6:
s1: establishing a rectangular coordinate system by taking the position of a first electronic detection device 601 as a coordinate origin O, taking the detection direction of the first electronic detection device 601 parallel to the main beam 102 as the positive direction of an x axis, the direction facing the second electronic detection device 602 as the positive direction of a y axis, and the vertical downward direction as the positive direction of a z axis;
s2: setting the farthest detecting distance D between the first electronic detecting device 601 and the second electronic detecting device 602 max The closest detection distance D between the first electronic detection device 601 and the second electronic detection device 602 min The distance Borderup between the highest detection point of the first/second electronic detection devices 601, 602 and the ground and the distance Border between the lowest detection point of the first/second electronic detection devices 601, 602 and the ground down Determining a first detection area of a first electronic detection device and a second detection area of a second electronic detection device;
s3: judging the running direction of the cart travelling mechanism 100 according to whether the intersection point of the first steel wire rope 401/the third steel wire rope 501 and the first detection area and the intersection point of the second steel wire rope 402/the fourth steel wire rope 502 and the second detection area exist;
preferably, in S3, the method for determining the traveling direction of the cart travelling mechanism 100 is as follows:
if the coordinates a (x) of the intersection point of the first wire rope 401/the third wire rope 501 and the first detection area exist A ，y A ，z A ) Then the cart traveling mechanism 100 moves in the y-axis negative direction;
if there is the intersection coordinate B (x) of the second/fourth steel cables 402/502 and the second detection area B ，y B ，z B ) Then the cart traveling mechanism 100 is turned to y Moving in the positive direction of the axis;
otherwise, the cart travelling mechanism 100 does not move;
wherein the first detection area is set as:
Figure BDA0003724484560000111
in the formula: x is a radical of a fluorine atom A The coordinate of the intersection point A on the x axis is; y is A The coordinate of the intersection point A on the y axis is shown; z is a radical of A The coordinate of the intersection point A on the z axis is; x is the number of 4 Is the maximum coordinate of the first detection region/the second detection region on the x-axis, x 4 ＝D max ；x 3 Is the minimum coordinate of the first detection region/the second detection region on the x-axis, x 3 ＝D min ；y 1 Coordinates of the first detection area/the second detection area on the y axis; z is a radical of 1 Is the minimum coordinate of the first detection region/the second detection region on the z-axis, z 1 ＝D-Borderup；z 2 Is the maximum coordinate on the z-axis of the first detection region/the second detection region, z 2 ＝D-Border down (ii) a Wherein D is the distance between the first electronic detection device/the second electronic detection device and the ground; x is the number of a Coordinates of any point in the first detection area on the x axis; y is a Coordinates of any point in the first detection area on the y axis; z is a radical of a The coordinate of any point in the first detection area on the z axis is obtained;
the second detection area is set as follows:
Figure BDA0003724484560000121
in the formula: x is a radical of a fluorine atom B The coordinate of the intersection point B on the x axis is; y is B The coordinate of the intersection point B on the y axis is obtained; z is a radical of B The coordinate of the intersection point B on the z axis is obtained; x is the number of 4 Is the maximum coordinate of the first detection region/the second detection region on the x-axis, x 4 ＝D max ；x 3 Is the minimum coordinate of the first detection region/the second detection region on the x-axis, x 3 ＝D min ；y 1 Coordinates of the first detection area/the second detection area on the y axis; z is a radical of formula 1 Is the minimum coordinate of the first detection region/the second detection region on the z-axis, z 1 ＝D-Borderup；z 2 Is the maximum of the first detection region/the second detection region in the z-axisCoordinate, z 2 ＝D-Border down (ii) a Wherein D is the distance between the first electronic detection device/the second electronic detection device and the ground; x is the number of b Coordinates of any point in the second detection area on the x axis; y is b Coordinates of any point in the second detection area on the y axis; z is a radical of b Detecting the coordinate of any point in the area on the z-axis; y is j The coordinates of the second electronic detection means on the y-axis.
S4: coordinates a (x) of intersection points of the first wire rope 401/the third wire rope 501 and the first detection area A ，y A ，z A ) And coordinates B (x) of intersection points of the second wire rope 402/the fourth wire rope 502 and the second detection area B ，y B ，z B ) Judging the traveling direction of the trolley;
preferably, in S4, the method for determining the traveling direction of the cart traveling mechanism 200 includes:
if x is present 2 ≤x A ≤x 4 Or x 2 ≤x B ≤x 4 When the vehicle travels, the carriage traveling mechanism 200 moves in the positive direction of the x-axis;
if x is present 3 ≤x A ≤x 1 Or
Figure BDA0003724484560000122
In contrast, the trolley travelling mechanism 200 moves towards the negative direction of the x axis;
otherwise, the cart chassis 200 does not move.
Wherein: x is the number of 1 Is the coordinate of the third wire 501/the fourth wire 502 in the x-axis direction, x 2 Coordinates of the first wire rope 401/the second wire rope 402 in the x-axis direction.
S5: the cart travelling mechanism operates according to the operation logic of the cart travelling mechanism so as to correct the deviation of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope in the cart track direction;
preferably, in S5, the operation logic of the cart travelling mechanism 100 is as follows:
when there is an intersection of the first wire rope 401/the third wire rope 501 and the first detection areaPoint coordinate A (x) A ，y A ，z A ) When the cart is started, the first intermediate relay K1 is attracted, a first intermediate relay signal is transmitted to the PLC system, the PLC system controls the cart frequency converter to rotate clockwise, and the cart motor drives the cart travelling mechanism 100 to move towards the negative direction of the y axis;
when there is the coordinate B (x) of the intersection point of the second wire rope 402/the fourth wire rope 502 and the second detection area B ，y B ，z B ) When the cart is started, the third intermediate relay K3 is actuated, the signal of the third intermediate relay is transmitted to the PLC system, the PLC system controls the cart frequency converter to rotate along the anticlockwise direction, and the cart motor drives the cart travelling mechanism 100 to move towards the positive direction of the y axis;
otherwise the cart running gear 100 does not move.
S6: and the trolley travelling mechanism operates according to the operation logic of the trolley travelling mechanism so as to correct the deviation of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope in the direction of the trolley track.
Preferably, in S6, the operation logic of the trolley travelling mechanism 200 is as follows:
if x is present 2 ≤x A ≤x 4 When the trolley is in use, the first intermediate relay K1 is attracted, a first intermediate relay signal is transmitted to the PLC system, the PLC system controls the trolley frequency converter to rotate along the anticlockwise direction, and the trolley motor drives the trolley travelling mechanism 200 to move along the positive direction of the x axis;
or x 2 ≤x B ≤x 4 When the trolley is in operation, a third intermediate relay K3 is sucked, a signal of the third intermediate relay is transmitted to the PLC system, the PLC system controls the trolley frequency converter to rotate along the anticlockwise direction, and the trolley motor drives the trolley travelling mechanism 200 to move along the positive direction of the x axis;
if x is present 3 ≤x A ≤x 1 When the trolley is driven to move along the negative direction of the x axis, the first intermediate relay K1 is attracted, a first intermediate relay signal is transmitted to the PLC system, the PLC system controls the trolley frequency converter to rotate along the clockwise direction, and the trolley motor drives the trolley travelling mechanism 200 to move along the negative direction of the x axis;
if present, is
Figure BDA0003724484560000141
When the trolley is driven to move along the negative direction of the x axis, a third intermediate relay K3 is actuated, a signal of the third intermediate relay is transmitted to the PLC system, the PLC system controls the trolley frequency converter to rotate along the clockwise direction, and the trolley motor drives the trolley travelling mechanism 200 to move along the negative direction of the x axis;
otherwise the trolley chassis 200 does not move.
Specifically, the working principle of this embodiment is as follows:
the first electronic detection device outputs 1 state point through a first intermediate relay K1 and outputs one fault point through a second intermediate relay K2, and the second electronic detection device outputs 1 state point through a third intermediate relay K3 and outputs one fault point through a fourth intermediate relay K4; and the first electronic detection device and the second electronic detection device are both active DC24V, and the actuation/disconnection of the intermediate relay is driven by the on-off of the state point and the fault point, wherein the first intermediate relay K1, the second intermediate relay K2, the third intermediate relay K3 and the fourth intermediate relay K4, namely a PLC system, are all installed in the PLC control cabinet. When the K1/K3 auxiliary contact is connected to the PLC input module, the PLC system can monitor the states of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope in real time. The PLC system controls the cart frequency converter and the trolley frequency converter in a Profinet communication mode, so that a cart motor and a trolley motor are driven to work. Finally, the positions of the cart travelling mechanism and the trolley travelling mechanism are adjusted in real time. When dust on the surface of the probe of the first electronic detection device/the second electronic detection device is obvious or other faults of the probe of the first electronic detection device/the second electronic detection device are caused, a fault point of the device can act along with the probe, and according to the principle of the same principle and the principle of the state point, the K2/K4 is attracted or disconnected along with the probe, and the K2/K4 auxiliary contact is connected into the PLC input module, so that the fault state of the first electronic detection device/the second electronic detection device is fed back to the PLC system at the first time.
In this embodiment, the first electronic detection device/the second electronic detection device are both laser 2D sensors, and are installed below the trolley travelling mechanism, so that no other objects except for the steel wire rope are shielded within a range of 3 meters in front of the probe of the first electronic detection device/the second electronic detection device, and the sector of the probe is perpendicular to the sector of the probe by 90 degrees. When the device is in operation, the probe emits a sector detection area. Because the sector area is very wide, in the embodiment, the first electronic detection device/the second electronic detection device is installed in the direction away from the trolley travelling mechanism, and the distance from the first steel wire rope/the third steel wire rope to the vertical plane parallel to the main beam is 0.5 m;
specifically, this embodiment is applied to unmanned grab overhead traveling crane field. The distance between the first steel wire rope and the second steel wire rope on the opening and closing mechanism winding drum 400 is larger than the distance between the third steel wire rope and the fourth steel wire rope on the hoisting mechanism winding drum 500; in this embodiment, the boundary of the first detection region is determined manually, and is set to be the first detection region in the range of 0.5m from both sides of the projection line in the detection plane of the first electronic detection mechanism when the first wire rope is in the vertical state and 0.5m from the first electronic detection device in the horizontal direction,
when the first steel wire rope, the third steel wire rope and the first detection area have intersection points, the first electronic detection device immediately detects that the steel wire ropes are invaded, and the state point of the first electronic detection device immediately acts. Because different grab bucket structural style can't accomplish completely unanimous, the inclination of wire rope has its normal work all the other also different, and the first electronic detection device is difficult for adjusting easily after finishing installing, so through customization software on-line configuration to the sensing area of first electronic detection device carry out nimble adjustment, can save loaded down with trivial details work such as mechanical installation adjustment in a large number like this. In this embodiment, the method for setting the second detection area and the method for setting the second detection area are the same as the method for setting the first detection area and the second detection area.
In this embodiment, the detection sector of the first electronic detection device is a sector area in a vertical plane which is centered on the first electronic detection device and parallel to the main beam direction, and a first detection area is set in the sector area to monitor the states of the first steel wire rope and the third steel wire rope; in this embodiment, the detection sector of the second electronic detection device is a sector area in a vertical plane parallel to the main beam direction and centered on the second electronic detection device, and a second detection area is set in the sector area to monitor the states of the second steel wire rope and the fourth steel wire rope; when the first steel wire rope or the third steel wire rope and the first detection area have an intersection point, the first electronic detection device can correspondingly make an alarm action and accurately transmit a signal to the PLC. And similarly, when the second steel wire rope or the fourth steel wire rope and the second detection area have an intersection point, the second electronic detection device can correspondingly make an alarm action to accurately transmit a signal to the PLC. The PLC controls the action of the frequency converter of the cart or the trolley, so that the cart or the trolley is controlled to slightly move until no steel wire rope invades in the first detection area/the second detection area, namely the steel wire rope does not incline any more.
In this embodiment, the description of the working logic is given by taking the control of the cart travelling mechanism by the first electronic detection device as an example: the first electronic detection device detects that a steel wire rope invades in a first detection area, immediately outputs a state point 1 (the state point 1 is closed to enable a relay K1 to be electrified and sucked, an auxiliary contact of K1 is connected into a PLC input module I0.0 to enable I0.0 to be electrified and 1, and I0.0 is an action instruction M1 for a cart to move leftwards, wherein the action condition of a cart mechanism comprises 1) basic conditions: a power supply signal of a brake of a cart mechanism is set to be 1, a signal of a 1# motor overheat protector of the cart is set to be 1, a signal of a 2# motor overheat protector of the cart and a signal of a 2# motor overheat protector are set to be 1, (the cart motor comprises a 1# motor and a 2# motor in the embodiment) a fault output signal of a cart frequency converter is set to be 1, all threshold signals of 1# to 4# of a crane are set to be 1, and a plurality of signals are connected in series to form a relation with the threshold signals, and then a ready signal M0 of the cart mechanism is set to be 1; 2) the left movement command M1 is connected in series with the ready signal M0, and after a start command 47F and a speed value 1000 are input to the cart transducer. And the cart frequency converter and the PLC are communicated in real time through a network cable. The starting instruction 47F is a 16-system number, the corresponding binary number is 10001111111, the internal slope function generator of the cart frequency converter is started, and the frequency converter immediately outputs starting current to establish starting torque; the speed of the frequency converter communication is converted into 0-20000 corresponding to 0-864 r/min of the actual rotating speed (the rated rotating speed of the motor is the maximum speed of the motor under normal work). The speed value 1000 is 5% of the rated speed of the motor. Continuously increasing the current of the motor to establish starting torque after the cart frequency converter is started until the current reaches a brake opening threshold (the threshold is a calculated value after a complete motor model is established for the frequency converter), and immediately outputting an opening signal M3 by the cart frequency converter; in the relation of M1+ M2+ M3, the cart travelling mechanism moves leftwards immediately after all the conditions of setting 1 are met. When the first detection area and the first/third steel wire rope do not have an intersection point, the state point 1(M1) of the first electronic detection device is set to 0. The working condition of the cart walking mechanism is not satisfied, the cart walking mechanism stops working immediately, and M1 is set to 0 at the moment. M0 is always set to 1, and does not meet the starting condition of the frequency converter of the cart. After M1 is set to 0, the PLC immediately writes a stop command 47E and a speed value of 0 to the inverter. 47E for the corresponding binary number of 10001111110, the internal ramp function generator of the cart frequency converter is closed, the cart frequency converter immediately enters the deceleration stage and stops outputting the brake-opening command M3 at the speed threshold of 30r/min, and the cart frequency converter stops outputting completely. The brake is closed and the motor stalls. The cart travelling mechanism stops.
The embodiment has the following beneficial effects:
the first electronic detection device and the second electronic detection device are simple to install, and only need to ensure that no other objects except the steel wire rope are shielded in the first detection area and the second detection area; the first electronic detection device and the second electronic detection device can flexibly adjust the electronic barrier area according to the actual conditions of different crown block winding drums. The technical problems that a mechanical installation and adjustment mode is time-consuming and labor-consuming and poor in accuracy are solved; the first electronic detection device and the second electronic detection device are not in actual contact with the steel wire rope, so that mechanical damage is avoided; the first electronic detection device and the second electronic detection device have high response speed, and the steel wire rope can immediately respond after obliquely intruding into a detection area; the first electronic detection device and the second electronic detection device have a self-checking fault output function, and if the equipment is abnormal, an alarm can be given immediately, so that the abnormal state can be found in time, and the working safety of the overhead travelling crane is ensured. The device has the characteristics of simple installation, convenient debugging, comprehensive detection, quick response, fault self-checking and the like.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (9)

1. The utility model provides a device is corrected to unmanned grab bucket overhead traveling crane wire rope intelligence which characterized in that includes: the system comprises a first electronic detection device (601), a second electronic detection device (602), a cart frequency converter, a trolley frequency converter and a PLC system;
the first electronic detection device (601) is used for acquiring a first detection signal, wherein the first detection signal comprises an offset signal of a first steel wire rope (401) arranged on the opening and closing mechanism winding drum (400) and an offset signal of a third steel wire rope (501) arranged on the hoisting mechanism winding drum (500); the offset signal of the first wire rope (401)/the third wire rope (501) is a signal when an intersection point exists between the first wire rope (401)/the third wire rope (501) and the first detection area of the first electronic detection device (601);
the second electronic detection device (602) is configured to obtain a second detection signal, where the second detection signal includes an offset signal of a second wire rope (402) disposed on the opening and closing mechanism drum (400) and an offset signal of a fourth wire rope (502) disposed on the hoisting mechanism drum (500); the offset signal of the second steel wire rope (402)/the fourth steel wire rope (502) is a signal when an intersection point exists between the second steel wire rope (402)/the fourth steel wire rope (502) and a second detection area of the second electronic detection device (602);
the PLC system respectively acquires a first detection signal and a second detection signal so as to respectively realize real-time monitoring on the working states of the first steel wire rope (401), the third steel wire rope (501), the second steel wire rope (402) and the fourth steel wire rope (502);
and the PLC system controls the cart frequency converter and the trolley frequency converter according to the first detection signal and the second detection signal respectively, so that the cart travelling mechanism and the trolley travelling mechanism are driven to move through the cart frequency converter and the trolley frequency converter respectively, and the positions of the first steel wire rope (401), the third steel wire rope (501), the second steel wire rope (402) and the fourth steel wire rope (502) are corrected.
2. The intelligent correction device for the steel wire rope of the unmanned grab bucket overhead crane according to claim 1, further comprising a first intermediate relay K1, a third intermediate relay K3;
the PLC system acquires a first detection signal through the first intermediate relay K1; the working states of the first steel wire rope (401) and the third steel wire rope (501) are monitored in real time;
and the PLC system acquires a second detection signal through the third intermediate relay K3 to realize real-time monitoring of the working states of the second steel wire rope (402) and the fourth steel wire rope (502).
3. The intelligent correction device for the steel wire rope of the unmanned grab crane as claimed in claim 1, further comprising a second intermediate relay K2, a fourth intermediate relay K4;
the PLC system acquires a first fault detection signal of a first electronic detection device (601) through the second intermediate relay K2 so as to realize real-time monitoring on the fault state of the first electronic detection device (601);
and the PLC system acquires a second fault detection signal of a second electronic detection device (602) through the fourth intermediate relay K4 so as to realize real-time monitoring on the fault state of the second electronic detection device (602).
4. The intelligent correction device for the steel wire rope of the unmanned grab crane according to claim 1, wherein the first electronic detection device (601) and the second electronic detection device (602) are both fixed below the end part of one side of the trolley travelling mechanism (200) on which the hoisting mechanism winding drum (500) is arranged.
5. The intelligent correction method of the intelligent correction device for the steel wire rope of the unmanned grab bucket overhead crane according to any one of claims 1 to 4, characterized by comprising the following steps:
s1: establishing a rectangular coordinate system by taking the position of a first electronic detection device (601) as a coordinate origin O, taking the detection direction of the first electronic detection device (601) parallel to a girder (102) as the positive direction of an x axis, the direction facing a second electronic detection device (602) as the positive direction of a y axis and the vertical downward direction as the positive direction of a z axis;
s2: setting the farthest detection distance D of the first electronic detection device (601)/the second electronic detection device (602) max The closest detection distance D of the first electronic detection device (601)/the second electronic detection device (602) min The distance Borderup between the highest detection point of the first electronic detection device (601)/the second electronic detection device (602) and the ground and the distance Border between the lowest detection point of the first electronic detection device (601)/the second electronic detection device (602) and the ground down Determining a first detection area of a first electronic detection device and a second detection area of a second electronic detection device;
s3: judging the running direction of the cart travelling mechanism (100) according to whether the intersection point of the first steel wire rope (401)/the third steel wire rope (501) and the first detection area and the intersection point of the second steel wire rope (402)/the fourth steel wire rope (502) and the second detection area exist or not;
s4: coordinates A (x) of intersection points of the first wire rope (401)/the third wire rope (501) and the first detection area A ,y A ,z A ) And the coordinates B (x) of the intersection point of the second wire rope (402)/the fourth wire rope (502) and the second detection area B ,y B ,z B ) Judging the traveling direction of the trolley;
s5: the cart travelling mechanism operates according to the operation logic of the cart travelling mechanism so as to correct the deviation of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope in the cart track direction;
s6: and the trolley travelling mechanism operates according to the operation logic of the trolley travelling mechanism so as to correct the deviation of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope in the direction of the trolley track.
6. The intelligent correction method for the steel wire rope of the unmanned grab bucket overhead travelling crane according to claim 5, wherein in the step S3, the method for judging the running direction of the travelling mechanism (100) of the crane is as follows:
if the first wire rope (401)/the third wire rope (501) and the intersection point coordinate A (x) of the first detection area exist A ,y A ,z A ) Then the cart traveling mechanism (100) moves towards the y-axis negative direction;
if there is a second wire rope (402)/a fourth wire rope (502) and the second detection area, the coordinate B (x) of the intersection point is B ,y B ,z B ) Then the cart travelling mechanism (100) moves towards the positive direction of the y axis;
otherwise, the cart travelling mechanism (100) does not move;
wherein the first detection area is set as:
Figure FDA0003724484550000041
in the formula: x is the number of A The coordinate of the intersection point A on the x axis is; y is A The coordinate of the intersection point A on the y axis is shown; z is a radical of A The coordinate of the intersection point A on the z axis is; x is the number of 4 Is the maximum coordinate of the first detection region/the second detection region on the x-axis, x 4 ＝D max ；x 3 Is the minimum coordinate of the first detection region/the second detection region on the x-axis, x 3 ＝D min ；y 1 Coordinates of the first detection area/the second detection area on the y axis; z is a radical of formula 1 Is the minimum coordinate of the first detection region/the second detection region on the z-axis, z 1 ＝D-Borderup；z 2 Is the maximum coordinate on the z-axis of the first detection region/the second detection region, z 2 ＝D-Border down (ii) a Wherein D is the distance between the first electronic detection device/the second electronic detection device and the ground; x is a radical of a fluorine atom a Any point in the first detection region is atCoordinates on the x-axis; y is a Coordinates of any point in the first detection area on the y axis; z is a radical of a The coordinate of any point in the first detection area on the z axis is obtained;
the second detection area is set as follows:
Figure FDA0003724484550000042
in the formula: x is the number of B The coordinate of the intersection point B on the x axis is; y is B The coordinate of the intersection point B on the y axis is shown; z is a radical of B The coordinate of the intersection point B on the z axis is; x is the number of 4 Is the maximum coordinate of the first detection region/the second detection region on the x-axis, x 4 ＝D max ；x 3 Is the minimum coordinate of the first detection region/the second detection region on the x-axis, x 3 ＝D min ；y 1 Coordinates of the first detection area/the second detection area on the y axis; z is a radical of 1 Is the minimum coordinate of the first detection region/the second detection region on the z-axis, z 1 ＝D-Borderup；z 2 Is the maximum coordinate of the first detection region/the second detection region on the z-axis, z 2 ＝D-Border down (ii) a Wherein D is the distance between the first electronic detection device/the second electronic detection device and the ground; x is the number of b Coordinates of any point in the second detection area on the x axis; y is b Coordinates of any point in the second detection area on the y axis; z is a radical of b Detecting the coordinate of any point in the area on the z-axis; y is j The coordinates of the second electronic detection means on the y-axis.
7. The intelligent correction method for the steel wire rope of the unmanned grab crane according to claim 6, wherein in the step S4, the method for judging the walking direction of the trolley walking mechanism (200) comprises the following steps:
if x is present 2 ≤x A ≤x 4 Or x 2 ≤x B ≤x 4 When the trolley moves, the trolley travelling mechanism (200) moves to the positive direction of the x axis;
if x is present 3 ≤x A ≤x 1 Or alternatively
Figure FDA0003724484550000051
When the X-axis is in use, the trolley travelling mechanism (200) moves towards the negative direction of the X-axis;
otherwise, the trolley travelling mechanism (200) does not move.
Wherein: x is the number of 1 Is the coordinate of the third steel wire rope (501)/the fourth steel wire rope (502) in the x-axis direction, x 2 Coordinates of the first wire rope (401)/the second wire rope (402) in the x-axis direction.
8. The intelligent correction method for the steel wire rope of the unmanned grab crane according to claim 7, wherein in the step S5, the operation logic of the crane walking mechanism (100) is as follows:
when there is a coordinate A (x) of the intersection point of the first wire rope (401)/the third wire rope (501) and the first detection area A ,y A ,z A ) When the crane is in use, the first intermediate relay K1 is sucked, a first intermediate relay signal is transmitted to the PLC system, the PLC system controls the crane frequency converter to rotate clockwise, and the crane motor drives the crane travelling mechanism (100) to move towards the negative direction of the y axis;
when there is a second wire rope (402)/a fourth wire rope (502) and the second detection area, the coordinate B (x) of the intersection point is B ,y B ,z B ) When the trolley is in use, a third intermediate relay K3 is sucked, a signal of the third intermediate relay is transmitted to the PLC system, the PLC system controls the cart frequency converter to rotate along the anticlockwise direction, and the cart travelling mechanism (100) is driven by the cart motor to move towards the positive direction of the y axis;
otherwise, the cart travelling mechanism (100) does not move.
9. The intelligent correction method for the steel wire rope of the unmanned grab crane according to claim 7, wherein in the step S6, the operation logic of the trolley travelling mechanism (200) is as follows:
if x is present 2 ≤x A ≤x 4 When the trolley is used, the first intermediate relay K1 is sucked, the first intermediate relay transmits a signal to the PLC system, and the PLC system controls the frequency converter edge of the trolleyThe trolley rotates anticlockwise, and the trolley travelling mechanism (200) is driven by a trolley motor to move along the positive direction of the x axis;
or x 2 ≤x B ≤x 4 When the trolley is in use, a third intermediate relay K3 is sucked, a signal of the third intermediate relay is transmitted to the PLC system, the PLC system controls the trolley frequency converter to rotate along the anticlockwise direction, and the trolley motor drives the trolley travelling mechanism (200) to move along the positive direction of the x axis;
if x is present 3 ≤x A ≤x 1 When the trolley is in use, the first intermediate relay K1 is attracted, a first intermediate relay signal is transmitted to the PLC system, the PLC system controls the trolley frequency converter to rotate clockwise, and the trolley travelling mechanism (200) is driven by the trolley motor to move along the negative direction of the x axis;
if x is present 3 ≤x B ≤x 1 When the trolley is in use, the third intermediate relay K3 is sucked, a signal of the third intermediate relay is transmitted to the PLC system, the PLC system controls the trolley frequency converter to rotate clockwise, and the trolley motor drives the trolley travelling mechanism (200) to move along the negative direction of the x axis;
otherwise, the trolley travelling mechanism (200) does not move.
CN202210771859.7A 2022-06-30 2022-06-30 Intelligent correction device and method for steel wire rope of unmanned grab overhead crane Pending CN114933244A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116969334A (en) * 2023-09-14 2023-10-31 华侨大学 Multi-crown block collaborative operation system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116969334A (en) * 2023-09-14 2023-10-31 华侨大学 Multi-crown block collaborative operation system
CN116969334B (en) * 2023-09-14 2023-12-22 华侨大学 Multi-crown block collaborative operation system

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