CN117566588A - Portal crane production lifting system - Google Patents
Portal crane production lifting system Download PDFInfo
- Publication number
- CN117566588A CN117566588A CN202311557239.4A CN202311557239A CN117566588A CN 117566588 A CN117566588 A CN 117566588A CN 202311557239 A CN202311557239 A CN 202311557239A CN 117566588 A CN117566588 A CN 117566588A
- Authority
- CN
- China
- Prior art keywords
- crane
- rigging
- gantry crane
- cable
- suspended
- Prior art date
- 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.)
- Granted
Links
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 238000000034 method Methods 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000006698 induction Effects 0.000 claims abstract description 5
- 238000004458 analytical method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 claims description 5
- 238000012795 verification Methods 0.000 claims description 4
- 244000208734 Pisonia aculeata Species 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000010355 oscillation Effects 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011946 reduction process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect 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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
-
- 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
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a portal crane production lifting system, which comprises: a code wheel mounted to a main drive shaft of a traversing mechanism of the gantry crane; the U-shaped photoelectric sensor is arranged on the portal crane, performs photoelectric correlation induction on two sides of the opening and is used for outputting pulse signals; the crane control device is electrically connected with the U-shaped photoelectric sensor and the transverse moving mechanism of the gantry crane; the size disc is provided with a plurality of size slits, the size slits are uniformly distributed around the center of the size disc, and photoelectric signals of the U-shaped photoelectric sensor can pass through size peaks; the crane control device is configured to: receiving a detection signal fed back by the U-shaped photoelectric sensor, and generating a transverse movement pulse parameter; when the traversing pulse parameters are matched with a preset parking trigger threshold, a driving motor of a traversing mechanism of the gantry crane is controlled by a preset multi-section linear deceleration signal. The method has the effects of reducing time consumption when the gantry crane is parked and improving productivity.
Description
Technical Field
The application relates to the technical field of gantry crane control, in particular to a gantry crane production lifting system.
Background
The existing gantry crane mostly adopts a binary address reading device to control the speed, and referring to fig. 9, the device has the following defects:
1) The deceleration distance of the gantry crane is long, the deceleration time is long, the production period is prolonged, and the productivity is influenced;
2) The hoist is severely stuttered, and the hoist parts are relatively easy to damage.
Disclosure of Invention
In order to reduce the time consumption of the gantry crane when parking, the productivity is improved; simultaneously, in order to reduce the stopping setback of the crane and the damage probability of parts, the application provides a portal crane production lifting system.
The application provides a portal crane production system, adopts following technical scheme:
a gantry crane production lift system comprising:
a code wheel mounted to a main drive shaft of a traversing mechanism of the gantry crane;
the U-shaped photoelectric sensor is arranged on the portal crane, performs photoelectric correlation induction on two sides of the opening and is used for outputting pulse signals; the method comprises the steps of,
the crane control device is electrically connected with the U-shaped photoelectric sensor and the transverse moving mechanism of the gantry crane;
the size disc is provided with a plurality of size slits, the size slits are uniformly distributed around the center of the size disc, and photoelectric signals of the U-shaped photoelectric sensor can pass through size peaks; the crane control device is configured to:
receiving a detection signal fed back by the U-shaped photoelectric sensor, and generating a transverse movement pulse parameter;
when the traversing pulse parameters are matched with a preset parking trigger threshold, a driving motor of a traversing mechanism of the gantry crane is controlled by a preset multi-section linear deceleration signal.
Optionally, the self-balancing hoisting cable comprises a hoisting mechanism and a cable, wherein the hoisting mechanism is arranged on a crane seat of the gantry crane and is divided into three groups, the three groups of hoisting mechanisms are distributed along the moving direction of a traversing mechanism of the gantry crane and are respectively called a cable A, a cable B and a cable C, and one end of the cable is fixed on the hoisting mechanism and the other end of the cable is used for hoisting/traction; the hoist mechanism is electrically connected to a crane control configured to:
identifying whether the transverse moving direction of the transverse moving mechanism of the gantry crane is the A-C direction or the C-A direction;
when the traversing pulse parameter is matched with a preset parking trigger threshold value:
if the transverse moving direction is the A-C direction, the cable A is retracted;
if the transverse moving direction is the C-A direction, the cable C is retracted;
wherein, the stowage L and the stowage speed V of the rigging A and the rigging C are predetermined.
Optionally, the crane control device is configured to:
acquiring the moving speed of a traversing mechanism of the gantry crane and the quality of a hoisted object;
according to the real-time moving speed and the multi-section linear deceleration signal, calculating to obtain acceleration a during deceleration;
recording the relation data of a, mg and theta obtained through verification; wherein θ is a swing angle formed by swinging the suspended and pulled object in a unit time when the suspended and pulled object is decelerated by acceleration a, and mg is the mass of the suspended and pulled object;
based on a preset swinging force calculation formula: f1 =m×g×sin θ, resulting in a swinging force F1;
let the pull-back balancing acting force f2=the swinging force F1, and find the preset relation data of F2 and the stowage speed V, to obtain the stowage speed V.
Optionally, the crane control device is electrically connected with an environmental wind detection unit and configured to:
receiving feedback of an environmental wind detection unit to obtain wind direction parameters and wind force parameters;
calculating inertial swinging interference parameters based on the transverse moving direction, wind direction parameters and wind force parameters of the transverse moving mechanism, and evaluating swinging force Fi;
if the inertial swing interference parameter is a positive value, F2=F1+Fi;
if the inertia swing disturbance parameter is negative, f2=f1-Fi is set, and if F2 < 0, the inertia swing adjustment of the rigging a or the rigging C is stopped during the deceleration process.
Optionally, the crane control device further comprises an image pick-up unit, wherein the image pick-up unit is used for shooting the top surface of the hoisted and pulled object and is electrically connected with the crane control device; the hoisting mechanism is slidingly connected to a crane base of the gantry crane, and the crane control device is configured to:
the top surface width of the suspended and pulled object is obtained based on the top surface image recognition and analysis of the suspended and pulled object acquired by the camera unit;
and the positions of the three groups of hoisting mechanisms are adjusted according to the width of the top surface of the suspended and pulled object, and the rigging B is positioned right above the center of the width of the top surface, so that the rigging A and the rigging C are symmetrically distributed by the rigging B.
Optionally, the crane control device is configured to:
if the width of the top surface of the suspended and pulled object is smaller than the maximum adjustable distance between the rigging A and the rigging C, calculating according to a trigonometric function, the release length of the guy cable of the rigging A/C and the release length of the guy cable of the rigging B, and obtaining an included angle gamma between the guy cable corresponding to the rigging A/C and the top surface of the suspended and pulled object;
carrying out stress analysis and calculation according to the included angle gamma and 1/3mg to obtain a transverse component F3 of the pulling force provided by the rigging A/C;
let f2=f1-F3.
Optionally, the device further comprises a protection bracket, wherein the protection bracket is fixed on the gantry crane and is provided with a bayonet, the code wheel stretches into the bayonet, and two symmetrical side walls of the bayonet of the protection bracket are positioned in the opening of the U-shaped photoelectric sensor.
Optionally, the crane control device is configured to: the drive motor of the traversing mechanism of the gantry crane is controlled by a preset multi-section linear deceleration signal, and the control device comprises:
assuming a deceleration time of X seconds;
and recording the rotating speed of the code disc corresponding to the transverse moving pulse parameters before deceleration as M, dividing the deceleration process into X+1 sections, and setting the reduction amount of each section as M/X.
In summary, the present application includes at least one of the following beneficial technical effects: the moving amount of the gantry crane is tracked based on the pulse number, and the pulse number is a continuous value, and the existing binary-based step type speed reduction is replaced by the linear speed reduction mode, so that the crane can run more stably on one hand, the setbacks and the damage to parts can be reduced, the speed reduction time is shorter on the other hand, the production period can be reduced, and the productivity is improved.
Drawings
FIG. 1 is a schematic diagram of the structure of a code wheel and a U-shaped photoelectric sensor of the present application after installation;
FIG. 2 is an enlarged schematic view of portion A of FIG. 1;
FIG. 3 is a schematic diagram of the structure of the code wheel and the U-shaped photoelectric sensor of the present application;
FIG. 4 is a graph of speed after the present application increases in production;
FIG. 5 is a schematic diagram of the control structure of the crane control of the present application;
FIG. 6 is a schematic illustration of the sling construction of three sets of rigging of the present application;
FIG. 7 is a schematic diagram of a force analysis of the present application when disturbed by ambient wind;
FIG. 8 is a schematic diagram of a force analysis of the cable of the present application when tilted;
fig. 9 is a graph of the speed of a conventional gantry crane when the gantry crane is addressed in binary.
Reference numerals illustrate: 1. a code wheel; 11. a size slit; 2. a U-shaped photoelectric sensor; 3. a crane control device; 4. a fixed bracket; 5. a protective bracket; 6. a hoisting mechanism; 7. a guy cable; 8. an ambient wind detection unit; 9. an image pickup unit.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-8.
The embodiment of the application discloses a portal crane product lifting system.
Referring to fig. 1-9, the gantry crane production lifting system comprises a code wheel 1, a U-shaped photoelectric sensor 2 and a crane control device 3.
Referring to fig. 2 and 3, a plurality of size slits 11 are formed on the size disc 1, and the size slits 11 are used for passing through induction light excited by the U-shaped photoelectric sensor 2; a plurality of size slots 11 are evenly distributed around the code wheel 1. The code wheel 1 is fixed on a main transmission shaft of a traversing mechanism of the gantry crane with a central shaft and synchronously rotates along with the main transmission shaft so as to reflect traversing information of the traversing mechanism.
The U-shaped photoelectric sensor 2 is installed through a fixed bracket 4 which is fixed on the gantry crane structure body through bolts; photoelectric correlation induction is carried out on two sides of the opening of the U-shaped photoelectric sensor 2, and the U-shaped photoelectric sensor is used for outputting pulse signals.
The crane control device 3 is electrically connected to the U-shaped photoelectric sensor 2 and the traversing mechanism of the gantry crane, and the crane control device 3 comprises a PLC controller and a computer connected with the PLC controller as an upper computer, wherein the PLC controller is connected with a sensor, a motor and the like for automatic control. The crane control 3 is configured to:
receiving a detection signal fed back by the U-shaped photoelectric sensor 2, and generating a transverse movement pulse parameter; the method comprises the steps of,
when the traversing pulse parameters are matched with a preset parking trigger threshold, a driving motor of a traversing mechanism of the gantry crane is controlled by a preset multi-section linear deceleration signal.
In the use process, the code wheel 1 rotates along with the main transmission shaft of the traversing mechanism, the U-shaped photoelectric sensor 2 is kept on, and the size gap is intermittently unobstructed when the code wheel 1 rotates, so that a real-time pulse signal is formed, and the traversing pulse parameters can be obtained through recording.
Referring to fig. 4, assuming that the target operation is 1600 seconds and the parking trigger threshold is 1400 pulses, when the traverse mechanism of the gantry crane is operated and 1400 pulses are detected by the crane control device 3, the deceleration control is performed by a preset multi-stage linear deceleration signal.
Because the pulse number is a continuous value, and the existing binary-based step-type speed reduction is replaced by the linear speed reduction mode, the crane can run more stably on one hand, the setbacks and the damage to parts can be reduced, the speed reduction time is shorter on the other hand, the production period can be reduced, and the productivity is improved.
In one embodiment of the present application, the crane control 3 is configured to: the drive motor of the traversing mechanism of the gantry crane is controlled by a preset multi-section linear deceleration signal, and the control device comprises:
assuming a deceleration time of X seconds;
and recording the rotating speed of the code disc corresponding to the transverse moving pulse parameters before deceleration as M, dividing the deceleration process into X+1 sections, and setting the reduction amount of each section as M/X.
For example: when the traversing mechanism stably operates, the rotating speed is=1/T=100 Hz, and the pulse number of T is 1s, which is the duty ratio of one circle, at this time, the multistage linear deceleration signal is correspondingly divided into 11 sections, which are respectively: 100 Hz-90 Hz-80 Hz-70 Hz-60 Hz-50 Hz-40 Hz-30 Hz-20 Hz-10 Hz-0 Hz.
Referring to fig. 4, the operation of the speed reducing crane is smoother based on the above manner, and it can be inferred that the start-up acceleration is also smoother.
Referring to fig. 2, in one embodiment of the present system, in order to prevent the loss of the U-shaped photosensor 2 when the position of the code wheel 1 is accidentally changed, a protection bracket 5 is further provided. The protection support 5 is fixed on the portal crane and is provided with a bayonet, the code wheel 1 extends into the bayonet, and two symmetrical side walls of the bayonet of the protection support 5 are positioned in the opening of the U-shaped photoelectric sensor 2.
According to the above arrangement, when the code wheel 1 is accidentally moved, it is restricted by the protection bracket 5, so that the damage to the U-shaped photoelectric sensor 2 is not directly caused.
Referring to fig. 5, in another embodiment of the present system, a self-balancing suspension cable tool is further included, the self-balancing suspension cable tool includes a winding mechanism 6 and a cable 7, the winding mechanism 6 may be a winding engine, the winding mechanism 6 is mounted on a crane base of the gantry crane and is divided into three groups, and one group may be one by way of example.
Referring to fig. 6, three sets of hoisting mechanisms 6 are distributed along the moving direction of the traversing mechanism of the gantry crane and are called rigging a, rigging B and rigging C, respectively, one end of a guy rope 7 is fixed to the hoisting mechanism 6 and the other end is used for hanging/traction; the hoisting mechanism 6 is electrically connected to the crane control 3, and the crane control 3 is configured to:
identifying whether the traversing direction of the traversing mechanism of the gantry crane is the A-C direction, namely the direction from the rigging A to the rigging C, or the C-A direction, namely the direction from the rigging C to the rigging A;
when the traversing pulse parameter is matched with a preset parking trigger threshold value:
if the transverse moving direction is the A-C direction, the cable A is retracted;
if the transverse moving direction is the C-A direction, the cable C is retracted;
the storage amount L and the storage speed V of the rigging a and the rigging C are predetermined.
It will be appreciated that the moving sling has a moving inertia which, when the system decelerates the crane, tends to keep the original speed moving forward due to the inertia, while the rigging has begun to decelerate under the crane, which results in a tendency for the sling to swing forward relative to the rigging, i.e. the hoisting mechanism 6. If the suspended and pulled object is prevented from swinging forwards, a force in the opposite direction needs to be applied to the suspended and pulled object, and according to the arrangement of the rigging A-C, when the speed is reduced in the direction A-C, the suspended and pulled object is pulled up on the side close to the direction A by the rigging A, so that the suspended and pulled object is slightly inclined, and a component force opposite to the movement direction can be generated to offset.
It should be noted that the cables 7 of the above-mentioned rigging a-C should be vertically downward or close toward the corresponding cable 7 of A, C toward the corresponding cable of B to drag the suspended load as it continues to forward, reducing and preventing the suspended load from forward (swinging). And in the deceleration process, continuously retracting the corresponding inhaul cable 7, and in the descending process of the suspended object after the movement is stopped, releasing the inhaul cable 7 in an accelerating way until the A-C is level, and then recovering synchronization.
In one embodiment of the present system, the crane control 3 is configured to:
acquiring the moving speed of a traversing mechanism of the gantry crane and the quality of a hoisted object;
according to the real-time moving speed and the multi-section linear deceleration signal, calculating to obtain acceleration a during deceleration; it is known that, although the magnitude of inertia is related to the mass of an object, the larger the acceleration a at the time of deceleration is in the case where the cable 7 is pulled, the more serious the resultant swing is;
therefore, the staff simulate working condition in advance to record the relation data of a, mg and theta obtained by verification; wherein θ is a swing angle formed by swinging the suspended and pulled object in a unit time (for example, 1 s) when the suspended and pulled object is decelerated by the acceleration a, and the swing angle can be measured by shooting a deceleration process of a high-speed camera for a past time; mg is the mass of the pendant;
based on a preset swinging force calculation formula: f1 =m×g×sin θ, resulting in a swinging force F1;
let the pull-back balancing acting force f2=the swinging force F1, and find the preset relation data of F2 and the stowage speed V, to obtain the stowage speed V.
The acquisition mode of the relation data of F2 and V: firstly, an exhaustive verification method is adopted, a worker tests stable results of the suspended and pulled objects under the same F2 at different V times, and the effect is taken once according with the requirement; secondly, simulating stress analysis, namely, assuming that the action is continuous t1, calculating the stowage amount of t1 based on V, calculating the inclination angle formed by the hanging and pulling physics based on a trigonometric function, assuming that F2 is moved to transversely pull a hanging and pulling object, and obtaining the stress component force to meet the balance condition, and reversely pushing to obtain t1.
Referring to fig. 5 and 7, in one implementation of the present system, the crane control 3 is electrically connected to an ambient wind detection unit 8, wherein the ambient wind detection unit 8 may be a crane-mounted anemometer and anemometer; the detection gantry crane is disturbed by wind power when working outdoors, and the crane control device 3 is configured to:
receiving feedback of the environmental wind detection unit 8 to obtain wind direction parameters and wind force parameters;
calculating inertial swinging interference parameters based on the transverse moving direction, wind direction parameters and wind force parameters of the transverse moving mechanism, and evaluating swinging force Fi; namely, the force analysis is carried out by simulation, and the component force of different wind forces in the moving direction of the suspended and pulled object is obtained.
If the inertial swing disturbance parameter is positive (i.e. the same direction), f2=f1+fi;
if the inertia swing disturbance parameter is negative (i.e. the same direction), f2=f1-Fi is given, and if F2 < 0, the inertia swing adjustment of the rigging a or the rigging C is stopped during the deceleration.
According to the arrangement, the system can still play a role when the gantry crane is used in an outdoor environment.
In another embodiment of the system, the crane comprises an image pick-up unit 9, wherein the image pick-up unit 9 can be arranged at the lower part of the crane base so as to pick up the top surface of the hoisted and pulled object in a overlooking angle; the image pickup unit 9 is electrically connected to the crane control 3. At this time, the hoisting mechanism 6 is slidingly coupled to the gantry crane base, for example: the electric screw rod sliding table is fixed at the bottom of the crane seat, and the hoisting mechanism 6 is arranged on a sliding block of the electric screw rod sliding table. Correspondingly, the crane control 3 is configured to:
the top surface width of the suspended and pulled object is obtained based on the top surface image recognition and analysis of the suspended and pulled object acquired by the image pick-up unit 9; namely, the suspended and pulled object in the drawing is identified, the corresponding characteristic image is extracted, the image size is calculated, and the actual size is obtained through conversion according to the scale set by the staff, so that the width of the top surface of the suspended and pulled object is obtained.
And then, the positions of the three groups of hoisting mechanisms 6 are adjusted according to the width of the top surface of the suspended and pulled object, and the rigging B is positioned right above the center of the width of the top surface, so that the rigging A and the rigging C are symmetrically distributed by the rigging B.
According to the arrangement, the system can automatically identify and analyze the top surface size of the suspended and pulled object, correspondingly adjust the positions of all the rigging, ensure that the suspended and pulled object is relatively stable in the air, and reduce the interference on the adjustment of the inhaul cable 7 in the speed reduction process.
Further, the crane control apparatus 3 is configured to:
if the top width of the suspended object is smaller than the maximum adjustable distance between the rigging A and the rigging C, namely, the guy wires 7 corresponding to the rigging A and the rigging C are inclined downwards and approach towards the middle of the rigging A and the rigging C, and the guy wires 7 are in a diagonal state, calculating according to the trigonometric function, the release length of the guy wires 7 of the rigging A/C and the release length of the guy wires 7 of the rigging B, and obtaining the top included angle gamma between the guy wires 7 corresponding to the rigging A/C and the suspended object.
Referring to fig. 8, trigonometric functions: c 2 ＝a 2 +b 2 Knowing b=the release length of the rig B; c=cable release length of the rigging a/C, so a is calculated; cos Γ=a/c, whereby the top angle Γ is obtained.
Carrying out stress analysis and calculation according to the included angle gamma and 1/3mg to obtain a transverse component F3 of the pulling force provided by the rigging A/C;
let f2=f1-F3.
The cable 7 with the cable pulled by stress analysis can be obtained: (1/3 mg)/f3=tan Γ, whereby the obtainable F3, F3 is the component force generated in the horizontal direction when the cable 7 is pulled obliquely; the component force is symmetrically distributed by the rigging A and the rigging C, the two guy ropes 7 are symmetrically distributed to counteract each other, and once the suspended and pulled object has the trend of forward-stroke swing, the guy rope 7 at the front side in the swing direction loosens and loses the horizontal component force by default, and is unbalanced.
It will be appreciated that since the oscillation is a dynamic process and there is some error based primarily on static force analysis, the above is primarily to attenuate the oscillation tendency, reducing the oscillation rather than completely removing the oscillation.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (8)
1. The utility model provides a portal crane production system, its characterized in that includes:
a code wheel mounted to a main drive shaft of a traversing mechanism of the gantry crane;
the U-shaped photoelectric sensor is arranged on the portal crane, performs photoelectric correlation induction on two sides of the opening and is used for outputting pulse signals; the method comprises the steps of,
the crane control device is electrically connected with the U-shaped photoelectric sensor and the transverse moving mechanism of the gantry crane;
the size disc is provided with a plurality of size slits, the size slits are uniformly distributed around the center of the size disc, and photoelectric signals of the U-shaped photoelectric sensor can pass through size peaks; the crane control device is configured to:
receiving a detection signal fed back by the U-shaped photoelectric sensor, and generating a transverse movement pulse parameter;
when the traversing pulse parameters are matched with a preset parking trigger threshold, a driving motor of a traversing mechanism of the gantry crane is controlled by a preset multi-section linear deceleration signal.
2. The gantry crane production system of claim 1, wherein: the self-balancing hoisting cable comprises a hoisting mechanism and a cable, wherein the hoisting mechanism is arranged on a crane seat of the gantry crane and is divided into three groups, the three groups of hoisting mechanisms are distributed along the moving direction of a traversing mechanism of the gantry crane and are respectively called a cable A, a cable B and a cable C, and one end of the cable is fixed on the hoisting mechanism and the other end of the cable is used for hoisting/traction; the hoist mechanism is electrically connected to a crane control configured to:
identifying whether the transverse moving direction of the transverse moving mechanism of the gantry crane is the A-C direction or the C-A direction;
when the traversing pulse parameter is matched with a preset parking trigger threshold value:
if the transverse moving direction is the A-C direction, the cable A is retracted;
if the transverse moving direction is the C-A direction, the cable C is retracted;
wherein, the stowage L and the stowage speed V of the rigging A and the rigging C are predetermined.
3. The gantry crane production system of claim 2, wherein: the crane control device is configured to:
acquiring the moving speed of a traversing mechanism of the gantry crane and the quality of a hoisted object;
according to the real-time moving speed and the multi-section linear deceleration signal, calculating to obtain acceleration a during deceleration;
recording the relation data of a, mg and theta obtained through verification; wherein θ is a swing angle formed by swinging the suspended and pulled object in a unit time when the suspended and pulled object is decelerated by acceleration a, and mg is the mass of the suspended and pulled object;
based on a preset swinging force calculation formula: f1 =m×g×sin θ, resulting in a swinging force F1;
let the pull-back balancing acting force f2=the swinging force F1, and find the preset relation data of F2 and the stowage speed V, to obtain the stowage speed V.
4. The gantry crane production system of claim 1, wherein: the crane control device is electrically connected with an environmental wind detection unit and is configured to:
receiving feedback of an environmental wind detection unit to obtain wind direction parameters and wind force parameters;
calculating inertial swinging interference parameters based on the transverse moving direction, wind direction parameters and wind force parameters of the transverse moving mechanism, and evaluating swinging force Fi;
if the inertial swing interference parameter is a positive value, F2=F1+Fi;
if the inertia swing disturbance parameter is negative, f2=f1-Fi is set, and if F2 < 0, the inertia swing adjustment of the rigging a or the rigging C is stopped during the deceleration process.
5. The gantry crane production lifting system of claim 3, further comprising a camera unit for capturing a top surface of the crane and electrically connected to the crane control; the hoisting mechanism is slidingly connected to a crane base of the gantry crane, and the crane control device is configured to:
the top surface width of the suspended and pulled object is obtained based on the top surface image recognition and analysis of the suspended and pulled object acquired by the camera unit;
and the positions of the three groups of hoisting mechanisms are adjusted according to the width of the top surface of the suspended and pulled object, and the rigging B is positioned right above the center of the width of the top surface, so that the rigging A and the rigging C are symmetrically distributed by the rigging B.
6. The gantry crane production system of claim 5, wherein: the crane control device is configured to:
if the width of the top surface of the suspended and pulled object is smaller than the maximum adjustable distance between the rigging A and the rigging C, calculating according to a trigonometric function, the release length of the guy cable of the rigging A/C and the release length of the guy cable of the rigging B, and obtaining an included angle gamma between the guy cable corresponding to the rigging A/C and the top surface of the suspended and pulled object;
carrying out stress analysis and calculation according to the included angle gamma and 1/3mg to obtain a transverse component F3 of the pulling force provided by the rigging A/C;
let f2=f1-F3.
7. The gantry crane production system of claim 1, wherein: the protection support is fixed to the gantry crane and provided with a bayonet, the code wheel stretches into the bayonet, and two symmetrical side walls of the bayonet of the protection support are located in an opening of the U-shaped photoelectric sensor.
8. The gantry crane production system of claim 1, wherein: the crane control device is configured to: the drive motor of the traversing mechanism of the gantry crane is controlled by a preset multi-section linear deceleration signal, and the control device comprises:
assuming a deceleration time of X seconds;
and recording the rotating speed of the code disc corresponding to the transverse moving pulse parameters before deceleration as M, dividing the deceleration process into X+1 sections, and setting the reduction amount of each section as M/X.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311557239.4A CN117566588B (en) | 2023-11-21 | 2023-11-21 | Portal crane production lifting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311557239.4A CN117566588B (en) | 2023-11-21 | 2023-11-21 | Portal crane production lifting system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117566588A true CN117566588A (en) | 2024-02-20 |
| CN117566588B CN117566588B (en) | 2024-07-09 |
Family
ID=89887712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311557239.4A Active CN117566588B (en) | 2023-11-21 | 2023-11-21 | Portal crane production lifting system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117566588B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0358343A1 (en) * | 1988-08-23 | 1990-03-14 | Northern Engineering Industries Plc | Crane with overload detector |
| JP2002193582A (en) * | 2000-12-28 | 2002-07-10 | Ishikawajima Harima Heavy Ind Co Ltd | Swing preventing device for container crane |
| CN101353126A (en) * | 2007-07-23 | 2009-01-28 | 株式会社日立制作所 | Speed detection method and apparatus of moving body |
| CN101386397A (en) * | 2008-10-28 | 2009-03-18 | 高旭 | Anti-collision control method for gantry crane lifting trolley |
| US20120132604A1 (en) * | 2009-08-27 | 2012-05-31 | Sany Automobile Manufacture Co., Ltd. | Controlling method, system and device for hook deviation |
| CN204480002U (en) * | 2015-03-18 | 2015-07-15 | 东莞市维迅机械科技有限公司 | Based on the address subdividing device of binary-coded decimal specific addressed location system |
| CN205275124U (en) * | 2015-12-15 | 2016-06-01 | 中国有色（沈阳）冶金机械有限公司 | Unmanned stack unit control system |
| CN106081678A (en) * | 2016-08-16 | 2016-11-09 | 永天机械设备制造(深圳)有限公司 | A kind of copper-clad plate full-automatic sawing sheet equipment |
| CN107902563A (en) * | 2017-12-25 | 2018-04-13 | 浙江邦博机械有限公司 | A kind of grab bucket crane |
| CN109534188A (en) * | 2018-11-16 | 2019-03-29 | 山东大学 | A kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform |
| CN211977832U (en) * | 2020-06-18 | 2020-11-20 | 山东博瑞安建筑科技有限公司 | Frame lifting distance measuring device |
| CN219507495U (en) * | 2023-04-07 | 2023-08-11 | 六安市特种设备监督检验中心 | Swing-preventing crane |
-
2023
- 2023-11-21 CN CN202311557239.4A patent/CN117566588B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0358343A1 (en) * | 1988-08-23 | 1990-03-14 | Northern Engineering Industries Plc | Crane with overload detector |
| JP2002193582A (en) * | 2000-12-28 | 2002-07-10 | Ishikawajima Harima Heavy Ind Co Ltd | Swing preventing device for container crane |
| CN101353126A (en) * | 2007-07-23 | 2009-01-28 | 株式会社日立制作所 | Speed detection method and apparatus of moving body |
| CN101386397A (en) * | 2008-10-28 | 2009-03-18 | 高旭 | Anti-collision control method for gantry crane lifting trolley |
| US20120132604A1 (en) * | 2009-08-27 | 2012-05-31 | Sany Automobile Manufacture Co., Ltd. | Controlling method, system and device for hook deviation |
| CN204480002U (en) * | 2015-03-18 | 2015-07-15 | 东莞市维迅机械科技有限公司 | Based on the address subdividing device of binary-coded decimal specific addressed location system |
| CN205275124U (en) * | 2015-12-15 | 2016-06-01 | 中国有色（沈阳）冶金机械有限公司 | Unmanned stack unit control system |
| CN106081678A (en) * | 2016-08-16 | 2016-11-09 | 永天机械设备制造(深圳)有限公司 | A kind of copper-clad plate full-automatic sawing sheet equipment |
| CN107902563A (en) * | 2017-12-25 | 2018-04-13 | 浙江邦博机械有限公司 | A kind of grab bucket crane |
| CN109534188A (en) * | 2018-11-16 | 2019-03-29 | 山东大学 | A kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform |
| CN211977832U (en) * | 2020-06-18 | 2020-11-20 | 山东博瑞安建筑科技有限公司 | Frame lifting distance measuring device |
| CN219507495U (en) * | 2023-04-07 | 2023-08-11 | 六安市特种设备监督检验中心 | Swing-preventing crane |
Non-Patent Citations (1)
| Title |
|---|
| 程文科, 秦子增, 张晓今: "具有倒"Y"型吊挂系统的物伞组合体动力分析", 弹道学报, no. 02, 20 June 1998 (1998-06-20), pages 14 - 18 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117566588B (en) | 2024-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110316657B (en) | Anti-swing control system for crane weight and control method thereof | |
| CN114572842B (en) | Control method, device and equipment for inhibiting swinging of grab bucket and storage medium | |
| CN103234843A (en) | Falling weight impact testing machine | |
| CN110329937B (en) | Device and method for assisting hoisting and rope arranging of crane and engineering machine | |
| JP2014005117A (en) | Device and method for inspecting long object in elevator hoistway | |
| CN210620028U (en) | Anti-swing control system for crane heavy object | |
| CN117566588B (en) | Portal crane production lifting system | |
| CN113682956A (en) | Automatic material environment condition identification and analysis method and system for intelligent tower crane | |
| CN210825204U (en) | High-precision four-hoisting-point synchronous lifting appliance | |
| CN116558761A (en) | High-speed water impact test device that goes into of structure based on spring is with higher speed | |
| CN109573842A (en) | For fix whipping crane method and associated crane | |
| CN106938828B (en) | Crane and hoisting mechanism thereof | |
| JP2011184114A (en) | Rope tension measuring device of elevator | |
| CN2587991Y (en) | Drawing-lifting apparatus for vertical lifting/lowering type parking equipment | |
| JP5546674B1 (en) | Climbing device and crane system using the slinging device | |
| CN116621053A (en) | Crane with crane body | |
| CN113526350B (en) | Control method and device for engineering machinery, processor and engineering machinery | |
| CN113896111B (en) | Control system and method for under-actuated hoisting equipment | |
| CN113307151A (en) | Hoisting device and method based on unmanned traveling crane | |
| JPS6131029B2 (en) | ||
| CN214989777U (en) | Self-adaptive cable wind system for hoisting equipment | |
| CN112830403B (en) | Compensation method for accurately detecting hoisting weight of tower crane | |
| CN210084762U (en) | Single-boom crane | |
| EP2700604A1 (en) | Anti-sway control method and arrangement | |
| CN116675114B (en) | Crane load detection mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |