CN115402934A - Control system and control method of beam erecting crane - Google Patents
Control system and control method of beam erecting crane Download PDFInfo
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- CN115402934A CN115402934A CN202210974296.1A CN202210974296A CN115402934A CN 115402934 A CN115402934 A CN 115402934A CN 202210974296 A CN202210974296 A CN 202210974296A CN 115402934 A CN115402934 A CN 115402934A
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- lifting
- control module
- operation data
- variable frequency
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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
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/34—Crane hooks
- B66C1/40—Crane hooks formed or fitted with load measuring or indicating devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/46—Control devices non-automatic electric
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- 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)
- Bridges Or Land Bridges (AREA)
Abstract
The invention provides a control system and a control method of a beam crane. The control system of the beam erecting crane is provided with a plurality of second control modules aiming at linkage and transfer of a plurality of lifting assemblies, the second control modules are used for being electrically connected with the lifting assemblies in a one-to-one correspondence mode, the operation data of the lifting assemblies can be acquired in real time when the lifting assemblies operate, the acquisition efficiency of the operation data of the lifting mechanism is ensured, each second control module transmits the acquired operation data of the corresponding lifting assembly to the first control module, no cross is generated among the second control modules, and the orderliness and the stability of operation data transmission are ensured; meanwhile, the operation data of all the lifting assemblies can be transmitted to the display module by the first control module in a unified mode, so that the operation data of the lifting assemblies can be conveniently acquired from the display module by an operator in real time, the operator can conveniently input instructions according to the operation data in time, the problem of the operation data can be found in time, and the operation fault can be eliminated.
Description
Technical Field
The invention relates to the technical field of engineering machinery control, in particular to a control system and a control method of a beam crane.
Background
In recent years, with the development of automation control technology, the construction operation of engineering machinery equipment such as a beam-erecting crane gradually tends to be automated.
However, heavy equipment such as a beam erecting crane is complex in structure and complex in construction operation process, data feedback is lagged in the process of controlling the operation of the beam erecting crane, cross transmission errors are prone to occurring in the data, workers cannot input corresponding instructions in time according to operation data, and adverse effects are caused on the construction efficiency and the operation stability of the beam erecting crane.
Disclosure of Invention
The invention solves the problem of how to ensure the transmission stability of the operation data and the timeliness of the work instruction input in the operation of the girder erection crane and improve the construction efficiency and the operation stability of the girder erection crane.
In order to solve the above problems, in one aspect, the present invention provides a control system for a beam crane, configured to control a hoisting mechanism of the beam crane, including a first control module, a display module, and a plurality of second control modules, where the first control module is respectively in communication connection with the hoisting mechanism, the display module, and the second control module, a driving assembly of the hoisting mechanism is in driving connection with a hoisting assembly, the second control modules are in one-to-one corresponding electrical connection with the hoisting assembly, and the first control module is configured to:
starting the driving assembly to drive at least one lifting assembly to work;
acquiring corresponding operation data of the lifting assembly according to the second control module;
comparing the operating data with preset data, and adjusting the driving assembly;
transmitting the operating data to the display module in real time;
and when the operating data is not matched with the preset data, outputting an alarm signal to the display module.
Compared with the prior art, the control system of the girder erection crane has the beneficial effects that: the plurality of second control modules are arranged aiming at linkage and transfer of the plurality of lifting assemblies, the second control modules are used for being electrically connected with the lifting assemblies in a one-to-one corresponding mode, when the lifting assemblies operate, the operation data of the lifting assemblies can be acquired in real time, the acquisition efficiency of the operation data of the lifting mechanism is ensured, each second control module transmits the acquired operation data of the corresponding lifting assembly to the first control module, no cross is generated among the second control modules, and the orderliness and the stability of operation data transmission are ensured; meanwhile, the operation data of all the lifting assemblies can be transmitted to the display module by the first control module in a unified mode, so that an operator can conveniently acquire the operation data of the lifting assemblies from the display module in real time, the operator can conveniently input instructions in time according to the operation data, the problem of the operation data can be found in time, and operation faults can be eliminated.
Optionally, the second control module is configured to be electrically connected to a drum of the hoisting assembly to obtain a rotation speed of the drum, and obtain a lifting height of a hook of the hoisting assembly according to the rotation speed of the drum;
the operation data comprises the rotation speed of the roller, the lifting height of the lifting hooks and the height deviation value between the lifting hooks, and the preset data comprises the preset height deviation value between the lifting hooks;
the first control module is further configured to: and acquiring a height deviation value between the lifting hooks according to the lifting height of the lifting hooks, comparing the height deviation value between the lifting hooks with the preset height deviation value, and outputting an alarm signal when the height deviation value between the lifting hooks is greater than the preset height deviation value.
Optionally, the second control module comprises: the first rotary encoder is used for being connected with the roller so as to acquire the rotating speed of the roller;
and when the lifting hook is in an idle load state, the empty hook rapid foot switch is used for driving the driving assembly to operate in an over-frequency mode.
Optionally, the operation data further includes a tension value of the hook, and the preset data further includes a preset tension value of the hook;
the second control module comprises a weight sensor, and the weight sensor is arranged on the lifting hook to obtain the tension value of the lifting hook;
the first control module is further configured to: and comparing the pulling force value of the lifting hook with the preset pulling force value, outputting an alarm signal when the pulling force value is greater than the preset pulling force value, and disconnecting the control circuit for driving the lifting hook to ascend by the driving assembly.
Optionally, the number of the lifting assemblies is three, and all the lifting hooks are distributed in a triangular shape;
the second control module comprises an inclination angle sensor, the inclination angle sensor is used for being arranged on a material lifted by the lifting hook and is positioned on one side of a lifting point of the lifting hook, the inclination angle sensor is used for acquiring the inclination angle direction of the lifting point, and the operation data further comprises the inclination angle direction of the lifting point;
the first control module is further configured to: and adjusting the rotation speed of the roller through the driving assembly according to the inclination angle direction of the hanging points so as to keep all the hanging points on the same horizontal plane.
Optionally, the driving assembly includes a variable frequency motor, the variable frequency motor is in driving connection with the drum, the second control module includes a second rotary encoder and a frequency converter, the second rotary encoder and the frequency converter are both used for being connected with the variable frequency motor, the second rotary encoder is used for acquiring a rotation speed of the variable frequency motor, and the frequency converter is used for adjusting the rotation speed of the variable frequency motor;
the operation data comprises the rotating speed of the variable frequency motor, the preset data comprises the preset rotating speed of the variable frequency motor, and the first control module is further used for: and acquiring the rotation speed of the variable frequency motor, comparing the rotation speed of the variable frequency motor with the preset rotation speed of the variable frequency motor, and if the rotation speed of the variable frequency motor is not matched with the preset rotation speed of the variable frequency motor, outputting an alarm signal and adjusting the rotation speed of the variable frequency motor.
Optionally, the second control module further comprises a low brake and a high brake hydraulic push rod, the first control module is further configured to:
when the variable frequency motor is started, the low-speed brake is started firstly, the frequency converter is operated, and finally the high-speed brake hydraulic push rod is started;
when the variable frequency motor needs to be closed, the high-speed brake hydraulic push rod is closed first, and then the low-speed brake is closed.
Optionally, the display module comprises a fail-over button, the fail-over button being configured to: and when the display module acquires the alarm signal, resetting is carried out through the first control module.
Optionally, the control system of the girder erection crane further comprises a video acquisition module, the video acquisition module is in communication connection with the display module, the video acquisition module comprises a plurality of cameras, and the cameras are used for being mounted on the crane body;
the display module comprises a storage unit, the storage unit is used for storing the operation data, and the operation data further comprises image data.
In another aspect, the present invention further provides a method for controlling a gantry crane, including:
starting a driving assembly, and driving at least one lifting assembly to work;
acquiring operation data of a corresponding hoisting assembly according to the second control module;
comparing the operating data with preset data, and adjusting the driving component;
transmitting the operation data to a display module in real time;
and when the operation data is not matched with the preset data, outputting an alarm signal to the display module.
Compared with the prior art, the beneficial effects of the control method of the girder erection crane are the same as those of the control system of the girder erection crane, and are not repeated herein.
Drawings
FIG. 1 is a schematic connection diagram of a control system of a gantry crane according to an embodiment of the present invention;
fig. 2 is a flowchart of a control method of the girder crane according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
In order to solve the above problem, in one aspect, an embodiment of the present invention provides a control system for a beam crane, configured to control a hoisting mechanism of the beam crane, including a first control module, a display module, and a plurality of second control modules, where the first control module is respectively in communication connection with the hoisting mechanism, the display module, and the second control module, a driving component of the hoisting mechanism is in driving connection with a hoisting component, the second control modules are in one-to-one corresponding electrical connection with the hoisting component, and the first control module is configured to: starting a driving assembly, and driving at least one lifting assembly to work; acquiring operation data of the corresponding lifting assembly according to the second control module; comparing the operation data with preset data, and adjusting the driving assembly; transmitting the operation data to a display module in real time; and when the operation data is not matched with the preset data, outputting an alarm signal to the display module.
It should be noted that, in the application of the girder erection crane, the volume and weight of the material to be lifted are different according to the needs, such as the material with larger volume and weight like steel beam and box beam, the lifting mechanism generally needs a plurality of lifting assemblies to be linked for lifting, and a plurality of driving assemblies are arranged to correspondingly drive the lifting assemblies, for the material with smaller volume and weight, one lifting assembly is generally used for transferring, a plurality of lifting assemblies can lift a plurality of materials simultaneously, however, in the lifting process, the operation data of each lifting assembly is easy to have cross errors in the transmission process, and the acquisition and processing efficiency of the data is lower, which is not beneficial to the timely transmission of the operation data to the terminal, which influences the input of corresponding instructions by the operator, and reduces the construction efficiency and the operation stability of the girder erection crane.
Therefore, as shown in fig. 1, in this embodiment, for linkage and transfer of a plurality of hoisting assemblies, a plurality of second control modules are provided, and the second control modules are used for being electrically connected with the hoisting assemblies in a one-to-one correspondence manner, so that during operation of the hoisting assemblies, operation data of the hoisting assemblies can be acquired in real time, and acquisition efficiency of the operation data of the hoisting mechanism is ensured;
meanwhile, the operation data of all the lifting assemblies are transmitted to the display module by the first control module in a unified mode, so that an operator can conveniently acquire the operation data of the lifting assemblies from the display module in real time, input instructions according to the operation data in time and find out operation data problems in time, and operation faults are eliminated;
in addition, preset data are preset in the first control module, the first control module can compare the preset data with the operation data, if the operation data is deviated, the first control module can timely adjust the hoisting mechanism through the second control module, so that the operation stability and the automation control of the beam erecting crane are guaranteed, the burden of an operator is lightened, an alarm signal is timely output, the operator is reminded, and the operator is convenient to record and check.
It should be noted that, first control module includes remote control module and local control module, and wherein, remote control module is located the driver's cabin of frame roof beam hoist, makes things convenient for the navigating mate to control through the operation panel in the driver's cabin, and local control module is located the electrical operation room, makes things convenient for operating personnel to debug frame roof beam hoist.
It should be noted that, in this embodiment, the first control module and the second control module include control elements such as circuit breaker, intermediate relay and programmable controller PLC, guarantee the stability of two control module work, and be communication connection between first control module and the second control module's the PLC controller, and the connected mode is CCLINK.
It should be noted that the display module is an industrial personal computer, a display screen of the industrial personal computer can display operation data in real time, and the industrial personal computer is in data link with the first control module.
Optionally, the hoisting assembly comprises a roller, a steel wire rope, a pulley block and a hook, the roller is in driving connection with the driving assembly, the pulley block is used for being installed on the crane body, one end of the steel wire rope is wound on the roller, the other end of the steel wire rope penetrates through the pulley block to be connected with the hook, the second control module is used for being electrically connected with the roller to obtain the rotation speed of the roller, and the lifting height of the hook is obtained according to the rotation speed of the roller; the operation data comprises the rotation speed of the roller, the lifting height of the lifting hooks and the height deviation value between the lifting hooks, and the preset data comprises the preset height deviation value between the lifting hooks; the first control module is further configured to: highly acquire the highly deviated value between the lifting hook according to the lift of lifting hook, contrast the highly deviated value between the lifting hook with predetermineeing the highly deviated value, when the highly deviated value between the lifting hook is greater than predetermineeing the highly deviated value, output alarm signal.
It should be noted that, the lifting assembly of the beam erecting crane comprises a roller, a steel wire rope, a pulley block and a hook, the roller is in driving connection with the driving assembly, the pulley block is used for being installed on the crane body of the beam erecting crane, one end of the steel wire rope is wound on the roller, the other end of the steel wire rope penetrates through the pulley block to be connected with the hook, and the hook is used for hoisting materials.
In this embodiment, the second control module is electrically connected to the drum and is configured to acquire a rotation speed of the drum in real time, and the drum rotates to collect and release the steel wire rope, so that the lifting of the hook is achieved, and the diameter of the drum and the initial position of the hook are determined, so that the second control module can acquire a lifting distance or a lowering distance of the hook according to the rotation speed and the rotation time of the drum and the diameter of the drum, and then combine with the initial position of the hook to obtain a lifting height of the hook;
and at the in-process that the material was hoisted to the lifting hook, to the condition that a plurality of lifting hooks hoisted a material, need to guarantee that the high deviation value between the lifting hook is less than preset high deviation value, in order to guarantee that the material can not take place the circumstances such as turn on one's side, therefore, first control module accessible second control module in time acquires the lifting height of a plurality of lifting hooks, thereby the processing obtains the high deviation value between the lifting hook, carry out the comparison with preset high deviation value with it, if be less than preset high deviation value, then the lifting hook belongs to normal state of lifting, when being greater than preset high deviation value, need in time output alarm signal, and the power of adjustment drive assembly output, prevent that the too big material that leads to of high deviation between the lifting hook from taking place to turn on one's side.
Optionally, the second control module comprises: the first rotary encoder is used for being connected with the roller so as to acquire the rotation speed of the roller; the empty hook foot switch is used for being electrically connected with the driving assembly, and when the lifting hook is in an idle load state, the empty hook foot switch is used for driving the driving assembly to operate in an over-frequency mode.
In order to accurately acquire the rotation speed of the roller and to obtain an accurate height deviation value between the hooks, in this embodiment, a first rotary encoder is provided, and the first rotary encoder is connected with the roller and can acquire the accurate rotation speed of the roller.
In addition, in order to promote the lifting speed of lifting hook when the lifting hook is unloaded, promote the work efficiency who lifts by crane, in this embodiment, set up empty hook foot switch, empty hook foot switch can drive assembly overfrequency operation, and when the lifting hook was unloaded, the control lifting hook rose fast or descended, shortened lifting hook position control's time.
Optionally, the operation data further includes a pulling force value of the lifting hook, and the preset data further includes a preset pulling force value of the lifting hook; the second control module comprises a weight sensor, and the weight sensor is arranged on the lifting hook to obtain the tension value of the lifting hook; the first control module is further configured to: and comparing the tension value of the lifting hook with a preset tension value, outputting an alarm signal when the tension value is greater than the preset tension value, and disconnecting the control circuit for driving the lifting hook to ascend by the driving assembly.
In order to guarantee the stability that the lifting hook lifted by crane, prevent the overload condition, in this embodiment, set up weighing transducer on the lifting hook, obtain the pulling force value of lifting hook in real time, and transmit to first control module, first control module compares with predetermined pulling force value according to the lifting hook pulling force value who obtains, when being greater than predetermined pulling force value, output alarm signal suggestion operating personnel, and in time break off the control circuit that drive assembly drive lifting hook rose, only allow the lifting hook to descend, prevent that the overload from causing the material to break away from or to rise the subassembly and damage.
Optionally, the number of the lifting assemblies is three, and all the lifting hooks are distributed in a triangular shape; the second control module comprises an inclination angle sensor, the inclination angle sensor is used for being arranged on a material lifted by the lifting hook and is positioned on one side of a lifting point of the lifting hook, the inclination angle sensor is used for acquiring the inclination angle direction of the lifting point, and the operation data further comprises the inclination angle direction of the lifting point; the first control module is further configured to: and adjusting the rotation speed of the roller through a driving assembly according to the inclination angle direction of the hanging points so as to keep all the hanging points on the same horizontal plane.
Generally, when a large and heavy material such as a box girder is hoisted, a triangular hoisting point is mostly adopted for hoisting, but in the hoisting process, three hoisting points are required to be ensured to be positioned on the same horizontal plane, and the box girder is prevented from side turning over.
It should be noted that the tilt angle sensor is a dual-axis tilt angle sensor, and is powered by using direct current power storage, and the tilt angle directions of the three-suspension-point transverse bridge direction and the forward bridge direction are transmitted to the first control module through a data transmission radio station, and the power supply required by the tilt angle sensor is ensured, and signals can be transmitted to the first control module by using a wired CCNC-SB11OH + PW communication cable.
Illustratively, the steel beam is hoisted, when three hoisting points are hoisted simultaneously, the X axis of the double-axis tilt angle sensor measures the transverse bridge direction of the steel beam, and the Y axis measures the transverse bridge direction of the steel beam. When the steel beam just rises, the steel beam needs to be leveled. The 3 double-shaft tilt angle sensors simultaneously measure the original posture of the steel beam, namely the horizontal posture; the default is that the X and Y angles measured at the moment are 0 degree. When the double-shaft tilt angle sensor outputs an X angle of 0 degrees < X <0.5 degrees during lifting, the lifting point at one side is too high, the speed of the lifting point at one side is automatically reduced until the X angle tends to 0 degrees, and meanwhile, when the X angle is-0.5 degrees < X <0 degrees, the lifting point at the other side is too high, the speed of the lifting point at the other side is automatically reduced until the X angle tends to 0 degrees. Similarly, when the Y-axis angle is 0 degrees < Y <0.5 degrees, the middle side hoisting point is too low, and the speed of the middle side hoisting point can be increased. When the Y-axis angle is-0.5 < Y <0 ° indicating that the intermediate side suspension point is too high, the intermediate side suspension point speed can be reduced. When the angle measured in any direction of the X axis and the Y axis is more than 0.5 degrees or less than-0.5 degrees, the lifting can be stopped to manually adjust the posture of the lifting point.
Optionally, the driving assembly includes a variable frequency motor, the variable frequency motor is in driving connection with the drum, the second control module includes a second rotary encoder and a frequency converter, the second rotary encoder and the frequency converter are both used for being connected with the variable frequency motor, the second rotary encoder is used for acquiring the rotation speed of the variable frequency motor, and the frequency converter is used for adjusting the rotation speed of the variable frequency motor; the operating data comprises a rotation speed of the variable frequency motor, the preset data comprises a preset rotation speed of the variable frequency motor, and the first control module is further used for: the method comprises the steps of obtaining the rotation speed of the variable frequency motor, comparing the rotation speed of the variable frequency motor with the preset rotation speed of the variable frequency motor, outputting an alarm signal if the rotation speed of the variable frequency motor is not matched with the preset rotation speed of the variable frequency motor, and adjusting the rotation speed of the variable frequency motor.
In order to ensure the stable control of the second control module on the variable frequency motor of the driving assembly, a frequency converter and a second rotary encoder which are both connected with the variable frequency motor are arranged, and the second rotary encoder and a speed feedback PG card in the frequency converter form a closed loop feedback system which can feed back the running speed of the variable frequency motor in real time;
simultaneously, first control module compares the inverter motor's that acquires rotation speed with predetermineeing the rotation speed, when not matching with predetermineeing the rotation speed, and output alarm signal reminds operating personnel to in time correct the rotation speed through the converter.
It should be noted that, in this embodiment, the adjustable frequency and the adjustable voltage can be output through the first control module, and the variable frequency motor is respectively driven to operate at a speed regulated speed, so as to realize inductive stepped speed regulation operation of lifting, and exemplarily, different speeds of high, medium, low, and third gears are set.
Optionally, the second control module further comprises a low-speed brake and a high-speed brake hydraulic push rod, and the first control module is further configured to: when the variable frequency motor is started, the low-speed brake is started firstly, then the frequency converter is operated, and finally the high-speed brake hydraulic push rod is started; when the variable frequency motor needs to be closed, the high-speed brake hydraulic push rod is closed first, and then the low-speed brake is closed.
In order to ensure the operation stability of the variable frequency motor, in the embodiment, a low-speed brake and a high-speed brake hydraulic push rod are arranged, the low-speed brake is firstly opened during working, the frequency converter is operated after the first control module detects that the low-speed brake is opened and limited in place (all low-speed brakes are opened in place during linkage), and the high-speed brake is opened when the torque meets the brake opening requirement. When the brake is contracting, the high-speed brake is closed first, the low-speed brake is closed again, when an overspeed fault occurs, the high-speed brake and the low-speed brake are closed immediately, the frequency converter stops running, and the system sends out an alarm signal to prompt an operator.
Certainly, in this embodiment, the brake air switch auxiliary contact is connected with the first control module, and when an operation fault occurs in the high-speed brake and the low-speed brake of any variable frequency motor, a corresponding instruction is sent out to enable other variable frequency motors to stop operating at the same time, so that the safety of the lifting beam is ensured.
Optionally, the display module comprises a fail-reset button for: when the display module obtains the alarm signal, the first control module resets.
In order to ensure the operation stability of the lifting mechanism, in this embodiment, the electrical protection of the lifting mechanism includes short circuit protection, overcurrent protection, zero protection and overload protection, and when the display module acquires an alarm signal, an operator must reset through a fault reset button on the linkage table.
Optionally, the control system of the girder erection crane further comprises a video acquisition module, the video acquisition module is in communication connection with the display module, the video acquisition module comprises a plurality of cameras, and the cameras are used for being mounted on the crane body; the display module comprises a storage unit, the storage unit is used for storing operation data, and the operation data further comprises image data.
In order to ensure effective monitoring of each working position of the beam-erecting crane, in the embodiment, a video acquisition module is arranged and is in communication connection with a display module, the video acquisition module comprises a plurality of cameras, and the positions for acquisition, display and recording comprise positions of each fulcrum, an anchor point, winch operation, lifting point operation, lifting tool gradient adjustment, a lifting and reversing track, whole machine longitudinal movement, a movable fixed pulley block, a cab interior and the like, and various control actions and changes during actions of the hydraulic substation.
Simultaneously, set up the memory cell in the display module, in time save the operating data of transmission to look up, and data storage time is no less than 30 consecutive workdays, and video storage time is no less than 72 hours, and data and video signal all can utilize cell-phone and computer to carry out long-range looking over and managing through the 4G network simultaneously.
In addition, in order to ensure the completeness of the work record, in the embodiment, the control system of the beam erecting crane is provided with an Uninterruptible Power Supply (UPS), so that the system can still normally run for a period of time after being powered off accidentally, and the timely storage of relevant information can be ensured.
On the other hand, an embodiment of the present invention further provides a method for controlling a gantry crane, including: starting a driving assembly, and driving at least one lifting assembly to work; acquiring operation data of a corresponding hoisting assembly according to the second control module; comparing the operation data with preset data, and adjusting the driving assembly; transmitting the operation data to a display module in real time; and when the operation data is not matched with the preset data, outputting an alarm signal to the display module.
As shown in S1 to S5 in fig. 2, the technical effect of the control method of the girder crane in this embodiment is the same as that of the control system of the girder crane, and is not described herein again.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. The utility model provides a control system of frame beam crane for the hoisting mechanism of control frame beam crane, its characterized in that, includes first control module, display module and a plurality of second control module, first control module respectively with hoisting mechanism display module with second control module communication connection, hoisting mechanism's drive assembly and hoisting assembly drive are connected, second control module with the hoisting assembly one-to-one corresponds the electricity and is connected, first control module is used for:
starting the driving assembly to drive at least one lifting assembly to work;
acquiring corresponding operation data of the lifting assembly according to the second control module;
comparing the operating data with preset data, and adjusting the driving component;
transmitting the operation data to the display module in real time;
and when the operating data is not matched with the preset data, outputting an alarm signal to the display module.
2. A control system for a girder crane according to claim 1,
the second control module is used for being electrically connected with a roller of the lifting assembly so as to acquire the rotation speed of the roller and acquire the lifting height of a lifting hook of the lifting assembly according to the rotation speed of the roller;
the operation data comprises the rotation speed of the roller, the lifting height of the lifting hooks and the height deviation value between the lifting hooks, and the preset data comprises the preset height deviation value between the lifting hooks;
the first control module is further configured to: and acquiring a height deviation value between the lifting hooks according to the lifting height of the lifting hooks, comparing the height deviation value between the lifting hooks with the preset height deviation value, and outputting an alarm signal when the height deviation value between the lifting hooks is greater than the preset height deviation value.
3. A control system for a girder crane according to claim 2, wherein the second control module comprises: the first rotary encoder is used for being connected with the roller so as to acquire the rotating speed of the roller;
and when the lifting hook is in an idle load state, the empty hook rapid foot switch is used for driving the driving assembly to operate in an over-frequency mode.
4. A control system for a girder crane according to claim 2,
the operation data further comprises a pulling force value of the lifting hook, and the preset data further comprises a preset pulling force value of the lifting hook;
the second control module comprises a weight sensor, and the weight sensor is arranged on the lifting hook to obtain the tension value of the lifting hook;
the first control module is further configured to: and comparing the tension value of the lifting hook with the preset tension value, outputting an alarm signal when the tension value is greater than the preset tension value, and disconnecting the control circuit for driving the lifting hook to ascend by the driving assembly.
5. A control system for a girder crane according to claim 2, wherein the number of the hoisting assemblies is three, and all the lifting hooks are distributed in a triangular shape;
the second control module comprises an inclination angle sensor, the inclination angle sensor is used for being arranged on a material lifted by the lifting hook and is positioned on one side of a lifting point of the lifting hook, the inclination angle sensor is used for acquiring the inclination angle direction of the lifting point, and the operation data further comprises the inclination angle direction of the lifting point;
the first control module is further configured to: and adjusting the rotation speed of the roller through the driving assembly according to the inclination angle direction of the hanging points so as to keep all the hanging points on the same horizontal plane.
6. The control system of the girder crane according to claim 2, wherein the driving assembly comprises a variable frequency motor, the variable frequency motor is connected with the drum drive, the second control module comprises a second rotary encoder and a frequency converter, the second rotary encoder and the frequency converter are both used for being connected with the variable frequency motor, the second rotary encoder is used for acquiring the rotation speed of the variable frequency motor, and the frequency converter is used for adjusting the rotation speed of the variable frequency motor;
the operation data comprises the rotation speed of the variable frequency motor, the preset data comprises the preset rotation speed of the variable frequency motor, and the first control module is further used for: and acquiring the rotation speed of the variable frequency motor, comparing the rotation speed of the variable frequency motor with the preset rotation speed of the variable frequency motor, and if the rotation speed of the variable frequency motor is not matched with the preset rotation speed of the variable frequency motor, outputting an alarm signal and adjusting the rotation speed of the variable frequency motor.
7. A control system for a girder crane according to claim 6, wherein said second control module further comprises a low speed brake and a high speed brake hydraulic push rod, and said first control module is further configured to:
when the variable frequency motor is started, the low-speed brake is started firstly, the frequency converter is operated, and finally the high-speed brake hydraulic push rod is started;
when the variable frequency motor needs to be closed, the high-speed brake hydraulic push rod is closed first, and then the low-speed brake is closed.
8. A control system for a girder crane according to claim 1, wherein the display module comprises a fail-over button for: and when the display module acquires the alarm signal, resetting is carried out through the first control module.
9. The control system of the girder crane according to any one of claims 1 to 8, further comprising a video capture module communicatively coupled to the display module, the video capture module including a plurality of cameras for mounting on a crane body;
the display module comprises a storage unit, the storage unit is used for storing the operation data, and the operation data further comprises image data.
10. A method of controlling a gantry crane, comprising:
starting a driving assembly, and driving at least one lifting assembly to work;
acquiring operation data of a corresponding hoisting assembly according to the second control module;
comparing the operating data with preset data, and adjusting the driving assembly;
transmitting the operation data to a display module in real time;
and when the operation data is not matched with the preset data, outputting an alarm signal to the display module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210974296.1A CN115402934B (en) | 2022-08-15 | 2022-08-15 | Control system and control method of girder erection crane |
| PCT/CN2023/091609 WO2024037044A1 (en) | 2022-08-15 | 2023-04-28 | Girder erection machine control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210974296.1A CN115402934B (en) | 2022-08-15 | 2022-08-15 | Control system and control method of girder erection crane |
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| CN115402934A true CN115402934A (en) | 2022-11-29 |
| CN115402934B CN115402934B (en) | 2023-08-11 |
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| CN202210974296.1A Active CN115402934B (en) | 2022-08-15 | 2022-08-15 | Control system and control method of girder erection crane |
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| Country | Link |
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| CN (1) | CN115402934B (en) |
| WO (1) | WO2024037044A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024037044A1 (en) * | 2022-08-15 | 2024-02-22 | 中铁九桥工程有限公司 | Girder erection machine control system and control method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115402934B (en) | 2023-08-11 |
| WO2024037044A1 (en) | 2024-02-22 |
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