CN117342428A - Control method of horizontal layer grain taking grab bucket crane for brewing - Google Patents
Control method of horizontal layer grain taking grab bucket crane for brewing Download PDFInfo
- Publication number
- CN117342428A CN117342428A CN202311658166.8A CN202311658166A CN117342428A CN 117342428 A CN117342428 A CN 117342428A CN 202311658166 A CN202311658166 A CN 202311658166A CN 117342428 A CN117342428 A CN 117342428A
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- China
- Prior art keywords
- grab bucket
- lifting
- opening
- pit
- angle
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000000034 method Methods 0.000 title claims description 19
- 238000004804 winding Methods 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000009304 pastoral farming Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/02—Bucket grabs
-
- 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
- B66D1/48—Control devices automatic
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The control device comprises a lifting reel and an absolute value encoder positioned on a rotating shaft of the lifting reel, wherein the absolute value encoder transmits the collected direction and angle of the lifting reel to a PLC (programmable logic controller), and the output end of the PLC is connected with a frequency converter and a servo controller, wherein the frequency converter is used for controlling the lifting reel of the crane and controlling the lifting of the grab bucket; the servo controller is used for controlling the opening and closing of the grab bucket and controlling the opening and closing angle of the grab bucket through the speed and the torque; according to the invention, the lifting mechanism is adjusted according to the opening and closing angle of the grab bucket in real time, so that the datum line is in a constant state, the descending height is set according to the depth of the pit, the purpose of taking grains from a flat layer in the pit is achieved, and pit mud at the bottom of the pit is not damaged.
Description
Technical Field
The invention belongs to the field of crane machinery, and relates to a control technology developed for a grab bucket crane in the brewing industry.
Background
The distillery is in the in-process of making wine need take out fermented lees from the pit with grab bucket hoist in the pit, and the pit bottom is spread and is had special pit mud, and the lees is whole to be located the pit mud, for the horizontal pit mud in the bottom of the pit of protection not destroyed, need keep the level of playing the lees face when snatching lees in the pit at every turn.
In the prior art, the grain taking grab bucket often cannot control the lifting height of the grab bucket, so that the horizontal pit mud at the bottom of the pit is often damaged.
Disclosure of Invention
The invention aims to solve the technical problems that: aiming at the problem that the lifting height of the vinasse taking grab bucket cannot be controlled in the prior art, the invention provides a control device and a control method for a horizontal vinasse taking grab bucket crane for brewing.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the control device comprises a lifting reel and an absolute value encoder positioned on a rotating shaft of the lifting reel, wherein the absolute value encoder transmits the collected direction and angle of the lifting reel to a PLC (programmable logic controller), and the output end of the PLC is connected with a frequency converter and a servo controller, wherein the frequency converter is used for controlling the lifting reel of the crane and controlling the lifting of the grab bucket; the servo controller is used for controlling the opening and closing of the grab bucket and controlling the opening and closing angle of the grab bucket through the speed and the torque;
the control method of the PLC comprises the following steps:
step 1: the absolute value encoder transmits the acquired direction and angle of the lifting winding drum to the PLC.
Step 2: according to different sizes of the grab bucket, an open/close curve model of the grab bucket is established in a program algorithm of the PLC through differentiation, and the establishment process is as follows:
step 2.1: establishing a grab bucket working datum line L, wherein the center A of a grab bucket hinge shaft is a point B, the bottom of the entity of the grab bucket is a point D in a closed state, and a line segment AD is compared with the grab bucket working datum line L at a point C; according to the working state of the grab bucket, establishing a grab bucket opening and closing curve and a lifting curve; when the grab bucket is opened, the grab bucket needs to descend, the point B is opened to two sides, the point A descends downwards, the line segment AB is equal to the line segment AD, and the descending height of the point A is equal to the line segment CD;
step 2.2: let the height H, the lifting state H, the projection length r of the grab opening plane, i.e. the line segment AB, on the reference line, the single-side grab opening angle isThe method comprises the steps of carrying out a first treatment on the surface of the It is known that: />An initial value of 45 DEG, and 0 DEG</><90°；
From Δabd is a triangle, then it follows that:
i.e.
In view of the initial value case,>at 45 DEGThe grab bucket is in a descending state; /><When the angle is 45 degrees, the grab bucket is in a rising state;
at this time, the grab bucket descends by h;
at the moment, the grab bucket ascends by h;
step 3: the servo controller controls and detects the opening and closing angles of the feedback grab bucket in real time through the speed and the torque, and different opening and closing angles are converted into vertical distances from the datum line through engineering quantity calculation;
step 4: the lifting winding drum is adjusted according to the opening and closing angle of the grab bucket in real time, so that the datum line L is in a constant state, the height h required to be lowered is set according to the depth of the pit, the purpose of taking grains from a flat layer in the pit is achieved, and pit mud at the bottom of the pit is not damaged.
The process of adjusting the lifting winding drum is as follows: adjusting an absolute value encoder, wherein the absolute value encoder passes through the formula: pi (d1+d2) (S1-S2)/S calculates and obtains the rope length of the steel wire rope, and defines a coordinate system calibration value as a datum line of 0 m; wherein pi is the circumference rate, d1 is the diameter of the lifting reel, d2 is the diameter of the steel wire rope, S1 is the current value of the encoder, S2 is the calibrated code value, and S is the resolution of the encoder.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the lifting mechanism is adjusted according to the opening and closing angle of the grab bucket in real time, so that the datum line is in a constant state, and the descending height is set according to the depth of the pit, so that the pit is internally leveled to take a pit, and pit mud at the bottom of the pit is not damaged.
Drawings
FIG. 1 is a schematic diagram of a grazing grab;
FIG. 2 is a schematic diagram of the opening and closing curve and the lifting curve of the present invention;
FIG. 3 is a schematic diagram of the geometry of the grazing grab;
FIG. 4 is a schematic diagram of an absolute value encoder mounted on a low speed shaft of a hoist drum.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
As shown in fig. 4, the control device of the horizontal layer vinasse taking grab bucket crane for brewing comprises a lifting winding drum and an absolute value encoder positioned on a rotating shaft of the lifting winding drum, wherein the absolute value encoder transmits the acquired direction and angle of the lifting winding drum to a PLC (programmable logic controller), and the output end of the PLC is connected with a frequency converter and a servo controller, wherein the frequency converter is used for controlling the lifting winding drum of the crane and controlling the lifting of the grab bucket; the servo controller is used for controlling the opening and closing of the grab bucket and controlling the opening and closing angle of the grab bucket through speed and torque.
As shown in fig. 1, 2 and 3, the control method of the horizontal layer vinasse taking grab bucket crane for brewing comprises the following steps:
step 1: the absolute value encoder 1 transmits the acquired direction and angle of the lifting winding drum 2 to the PLC.
Step 2: according to different sizes of the grab bucket, an open/close curve model of the grab bucket is established in a program algorithm of the PLC through differentiation, and the establishment process is as follows:
step 2.1: and establishing a grab bucket working datum line L, wherein the center A of a grab bucket hinge shaft is a point B, the bottom of the entity of the grab bucket is a point D in a closed state, and a line segment AD is compared with the grab bucket working datum line L at a point C. According to the working state of the grab bucket, a grab bucket opening and closing curve and a lifting curve are established, when the grab bucket is opened, the grab bucket needs to descend, namely, the point B is opened to two sides, and the point A descends downwards. As shown in fig. 3, line AB is equal to line AD, so the height of the drop at point a should be equal to line CD.
Step 2.2: let the height H, the lifting state H, the projection length r of the grab opening plane, i.e. the line segment AB, on the reference line, the single-side grab opening angle isThe method comprises the steps of carrying out a first treatment on the surface of the It is known that: />An initial value of 45 DEG, and 0 DEG</><90°。
As can be seen from fig. 3 Δabd is a triangle, then it can be seen that:
i.e.
In view of the initial value case,>when the angle is 45 degrees, the grab bucket is in a descending state; /><At 45 deg., the grapple is in an up-state.
At this time, the grab bucket descends by h;
at this time the grab bucket is raised h.
Step 3: the servo controller controls and detects the opening and closing angles of the feedback grab bucket in real time through the speed and the torque, and different opening and closing angles are converted into vertical distances from the datum line through engineering quantity calculation;
step 4: the lifting winding drum 2 is adjusted according to the opening and closing angle of the grab bucket in real time, so that the datum line L is in a constant state, the height h required to be lowered is set according to the depth of the pit, the purpose of taking grains from a flat layer in the pit is achieved, and pit mud at the bottom of the pit is not damaged.
The process of adjusting the lifting reel 2 is as follows: adjusting an absolute value encoder, wherein the absolute value encoder passes through the formula: pi (d1+d2) (S1-S2)/S calculates and obtains the rope length of the steel wire rope, and defines a coordinate system calibration value as a datum line of 0 m; wherein pi is the circumference rate, d1 is the diameter of the lifting reel, d2 is the diameter of the steel wire rope, S1 is the current value of the encoder, S2 is the calibrated code value, and S is the resolution of the encoder.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that several changes and modifications can be made without departing from the general inventive concept, and these should also be regarded as the scope of the invention.
Claims (2)
1. A control method of a horizontal layer grain taking grab bucket crane for brewing is characterized by comprising the following steps of: the control device comprises a lifting reel and an absolute value encoder positioned on a rotating shaft of the lifting reel, wherein the absolute value encoder transmits the acquired direction and angle of the lifting reel to the PLC, and the output end of the PLC is connected with a frequency converter and a servo controller, wherein the frequency converter is used for controlling the lifting reel of the crane and controlling the lifting of the grab bucket; the servo controller is used for controlling the opening and closing of the grab bucket and controlling the opening and closing angle of the grab bucket through the speed and the torque;
the control method of the PLC comprises the following steps:
step 1: the absolute value encoder (1) transmits the acquired direction and angle of the lifting winding drum (2) to the PLC;
step 2: according to different sizes of the grab bucket, an open/close curve model of the grab bucket is established in a program algorithm of the PLC through differentiation, and the establishment process is as follows:
step 2.1: establishing a grab bucket working datum line L, wherein the center A of a grab bucket hinge shaft is a point B, the bottom of the entity of the grab bucket is a point D in a closed state, and a line segment AD is compared with the grab bucket working datum line L at a point C; according to the working state of the grab bucket, establishing a grab bucket opening and closing curve and a lifting curve; when the grab bucket is opened, the grab bucket needs to descend, the point B is opened to two sides, the point A descends downwards, the line segment AB is equal to the line segment AD, and the descending height of the point A is equal to the line segment CD;
step 2.2: let the height H, the lifting state H, the projection length r of the grab opening plane, i.e. the line segment AB, on the reference line, the single-side grab opening angle isThe method comprises the steps of carrying out a first treatment on the surface of the It is known that: />An initial value of 45 DEG, and 0 DEG</><90°；
From Δabd is a triangle, then it follows that:
i.e.
In view of the initial value case,>when the angle is 45 degrees, the grab bucket is in a descending state; /><When the angle is 45 degrees, the grab bucket is in a rising state;
at this time, the grab bucket descends by h;
at the moment, the grab bucket ascends by h;
step 3: the servo controller controls and detects the opening and closing angles of the feedback grab bucket in real time through the speed and the torque, and different opening and closing angles are converted into vertical distances from the datum line through engineering quantity calculation;
step 4: the lifting winding drum (2) is adjusted according to the opening and closing angle of the grab bucket in real time, so that the datum line L is in a constant state, the height h required to be lowered is set according to the depth of the pit, the purpose of taking grains from a flat layer in the pit is achieved, and pit mud at the bottom of the pit is not damaged.
2. The control method of the horizontal vinasse-taking grab bucket crane for brewing according to claim 1, wherein the control method comprises the following steps: the process of adjusting the lifting winding drum (2) comprises the following steps: adjusting an absolute value encoder, wherein the absolute value encoder passes through the formula: pi (d1+d2) (S1-S2)/S calculates and obtains the rope length of the steel wire rope, and defines a coordinate system calibration value as a datum line of 0 m; wherein pi is the circumference rate, d1 is the diameter of the lifting reel, d2 is the diameter of the steel wire rope, S1 is the current value of the encoder, S2 is the calibrated code value, and S is the resolution of the encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311658166.8A CN117342428A (en) | 2023-12-06 | 2023-12-06 | Control method of horizontal layer grain taking grab bucket crane for brewing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311658166.8A CN117342428A (en) | 2023-12-06 | 2023-12-06 | Control method of horizontal layer grain taking grab bucket crane for brewing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117342428A true CN117342428A (en) | 2024-01-05 |
Family
ID=89367183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311658166.8A Pending CN117342428A (en) | 2023-12-06 | 2023-12-06 | Control method of horizontal layer grain taking grab bucket crane for brewing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117342428A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0677477A1 (en) * | 1994-03-22 | 1995-10-18 | Baggermaatschappij Boskalis Bv | Grab |
| JP2014080740A (en) * | 2012-10-15 | 2014-05-08 | Penta Ocean Construction Co Ltd | Grab bucket for dredging and dredging method using the same |
| CN205222477U (en) * | 2015-12-18 | 2016-05-11 | 厦门理工学院 | Level grab bucket device of guide pillar direction formula and synchronous formula of distal end |
| US20180273350A1 (en) * | 2017-03-23 | 2018-09-27 | Epsilon Kran Gmbh. | Crane |
| KR102073722B1 (en) * | 2019-12-06 | 2020-03-02 | 주식회사 태영측량 | Real time marine dredging using Grab |
| CN113816270A (en) * | 2021-09-18 | 2021-12-21 | 法兰泰克重工股份有限公司 | Control method for cleaning pit by grab bucket |
| CN114150725A (en) * | 2021-11-08 | 2022-03-08 | 中交疏浚技术装备国家工程研究中心有限公司 | Fine digging control system of grab dredger |
| CN114873468A (en) * | 2022-05-17 | 2022-08-09 | 山东大学 | Crown block grab bucket anti-collision method and system for brewing environment |
-
2023
- 2023-12-06 CN CN202311658166.8A patent/CN117342428A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0677477A1 (en) * | 1994-03-22 | 1995-10-18 | Baggermaatschappij Boskalis Bv | Grab |
| JP2014080740A (en) * | 2012-10-15 | 2014-05-08 | Penta Ocean Construction Co Ltd | Grab bucket for dredging and dredging method using the same |
| CN205222477U (en) * | 2015-12-18 | 2016-05-11 | 厦门理工学院 | Level grab bucket device of guide pillar direction formula and synchronous formula of distal end |
| US20180273350A1 (en) * | 2017-03-23 | 2018-09-27 | Epsilon Kran Gmbh. | Crane |
| KR102073722B1 (en) * | 2019-12-06 | 2020-03-02 | 주식회사 태영측량 | Real time marine dredging using Grab |
| CN113816270A (en) * | 2021-09-18 | 2021-12-21 | 法兰泰克重工股份有限公司 | Control method for cleaning pit by grab bucket |
| CN114150725A (en) * | 2021-11-08 | 2022-03-08 | 中交疏浚技术装备国家工程研究中心有限公司 | Fine digging control system of grab dredger |
| CN114873468A (en) * | 2022-05-17 | 2022-08-09 | 山东大学 | Crown block grab bucket anti-collision method and system for brewing environment |
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