CN202643118U - Rubbish grab crane - Google Patents

Abstract

The utility model discloses a rubbish grab crane, comprises a PLC (Program Logic Controller), a frequency converter and a motor, wherein the PLC is internally provided with a swing-prevention functional module, an output port of the swing-prevention functional module is connected with the frequency converter, the swing-prevention functional module is used for operating input speed analog values and then transmitting data to the frequency converter, and the frequency converter is used to set the rotation speed of the motor according to the input data of the swing-prevention functional module to control the motor to work. According to the utility model, the swing-prevention functional module is arranged in the PLC, as long as the PLC is internally set with the speed analog value corresponding to each gear, the small-range swing or no swing of the rubbish grab crane operating at high speed can be realized through the operation of the functional module. Accordingly, the problem that the rubbish grab bridge crane always swing by a large margin during operation is solved, and the stable and reliable operation of the rubbish grab crane is guaranteed.

Description

Garbage grab bucket crane

Technical field

The utility model relates to the anti-technology of waving of crane in bridge type, refers to especially with the anti-technology of waving on the garbage grab bucket crane in bridge type of frequency converter and PLC.

Background technology

Present garbage grab bucket crane in bridge type does not all arrange special anti-swing system, it is to adopt the slowly method of infinite speed variation by workman's operating experience or in conjunction with frequency converter when starting and stopping, accelerating and slowing down in work, to reduce the amplitude of oscillation so in theory, but the latter certainly will will reduce work efficiency, the former then certainly will allow driver spirit high-pressure, and electric elements is hit greatly, the life-span is low.Because the impact of garbage grab bucket crane in bridge type operating condition, be not suitable for the dress coder yet and control the frequency converter output frequency or measure rope capacity and calculate pivot angle.So the garbage grab bucket crane in bridge type is in when operation, for increasing work efficiency, general speed is all very fast, and rope capacity large dolly of quick travel in long situation is often arranged, and stops or shift process waves apparent in viewly, has certain potential safety hazard.

The utility model content

Technical problem to be solved in the utility model just provides a kind of garbage grab bucket crane, overcomes the problem that amplitude swing occurs the operation of garbage grab bucket crane in bridge type often, guarantees the steady reliability service of garbage grab bucket crane.

For solving the problems of the technologies described above, the utility model adopts following technical scheme: garbage grab bucket crane, comprise PLC, frequency converter and motor, it is characterized in that: the built-in anti-swing function module of described PLC, the velocity simulate value of described anti-each gear of swing function module PLC input end interface input hoisting crane, described anti-swing function module mouth interface connects frequency converter, the parameter " acceleration/accel " that frequency converter connects on motor and the frequency converter is set to " 0 ", described anti-swing function module carries out transferring data to frequency converter after the computing to the velocity simulate value of input, and frequency converter is according to the rotating speed control machine operation of the data setting motor of inputting from anti-swing function module.

As preferably, described anti-swing function module PLC mouth interface connects with shielding wire to be set up wireless telecommunications between frequency converter or anti-swing function module PLC mouth and frequency converter and is connected.

The utility model arranges anti-swing function module in PLC, it is zero that converter parameter arranges Acceleration and deceleration time, speed is controlled to be the PLC analog input, all anti-data of waving are all carried out unit and calculated in anti-swing function piece, only need in PLC, to arrange the velocity simulate value of each gear, through the function block computing, swing by a small margin in the time of can realizing garbage grab bucket crane in bridge type high-speed cruising or without swing.Thereby overcome the problem that amplitude swing occurs the operation of garbage grab bucket crane in bridge type often, guarantee the steady reliability service of garbage grab bucket crane.

Description of drawings

Below in conjunction with the drawings and specific embodiments the utility model is further described:

Fig. 1 is the utility model structural principle block diagram;

Fig. 2 is anti-swing function module workflow diagram;

Fig. 3 is the monkey running chart.

The specific embodiment

Specify with reference to figure 1 and Fig. 2 and to be the utility model embodiment,

Wherein, as shown in Figure 1, the anti-swinging structure of garbage grab bucket crane comprises PLC1, frequency converter 3 and motor 4, the built-in anti-swing function module 2 of described PLC, the velocity simulate value of described anti-each gear of swing function module PLC input end interface input hoisting crane, described anti-swing function module PLC mouth interface connects frequency converter, the parameter " acceleration/accel " that frequency converter connects on motor and the frequency converter is set to " 0 ", described anti-swing function module carries out transferring data to frequency converter after the computing to the velocity simulate value of input, and frequency converter is according to the rotating speed control machine operation of the data setting motor of inputting from anti-swing function module.Described anti-swing function module PLC mouth interface connects with shielding wire to be set up wireless telecommunications between frequency converter or anti-swing function module and frequency converter and is connected.

Described anti-swing function module comprises rate of onset v ₁And pre-arrival rate computing module, acceleration/accel time distribution module, acceleration calculation module and speed output module, rate of onset v ₁And pre-arrival rate computing module draws rate of onset v ₁And pre-arrival rate v ₂, acceleration/accel time distribution module is dispensed to four time periods with the acceleration/accel time t that sets, and the acceleration calculation module calculates the accekeration of four time periods, and the speed output module calculates velocity amplitude and the output of four time periods.

In conjunction with Fig. 2 the anti-control method (the Acceleration and deceleration time 3S of setting) of waving of garbage grab bucket crane is described,

At first, the velocity simulate value of four gears of garbage grab bucket crane is inputted the built-in anti-swing function module of PLC;

Secondly, anti-swing function module is divided into four time periods according to the acceleration/accel time that arranges, rate of onset and pre-arrival rate with Acceleration and deceleration time, and draws the velocity simulate amount of concrete time for the different acceleration/accel of each time period assignment;

At last, anti-swing function module is controlled the motor rotation velocity variations with the output speed analog signals to frequency converter, simultaneously, parameter on the frequency converter " acceleration/accel " is set to " 0 ", finally weakened by the acceleration/accel of real-time transform in the time or eliminate swing at default acceleration/accel, make the pivot angle vector of four time periods and be zero or be close to zero, reach pre-arrival rate.

Described anti-swing function module specific works process is: at first, anti-swing function module draws rate of onset v ₁And pre-arrival rate v ₂, wherein rate of onset is current real-time speed, pre-arrival rate is dispensed to four time periods with the acceleration/accel time t that sets, wherein t simultaneously for gear speed after changing ₁=t ₂=1/4t, t ₃=t ₄=1/3t; Secondly, anti-swing function module draws the accekeration of four time periods, wherein a ₁=v ₂-v ₁, a ₂=-2a ₁, a ₃=1/4(v ₂-v ₁), a ₄=1/3(v ₂-v ₁); At last, the rocking-prevention function module calculates the velocity simulate amount of four time periods (according to being velocity and acceleration relational expression v end=v0+at).

More than being the Acceleration and deceleration time 3S that hangs setting take conventional rubbish explains as example, and whole process is divided into the step of the different acceleration/accels of 4 reasonable time sections.Also can will be promoted to the time such as total process 4S, 5S etc. according to the garbage grab bucket crane condition of service, the time is longer, and the time period of division is more, needs the stage acceleration/accel of analytical calculation more.Crucial calculating of the present utility model is the classifying rationally acceleration/accel time, and the stage acceleration/accel.

Below in conjunction with preventing that shaking theoretical analysis is described further the utility model.

Garbage grab bucket crane wave the process that occurs in acceleration change, consider from displacement angle, occur in the swing process in grab bucket, the speed of dolly is switched accordingly, the swing of catching up with rapidly grab bucket continues to move forward, so that dolly is when reaching pre-set velocity, under grab bucket was in vertical position with dolly, the grab bucket of this moment swung minimum.In order to make grab bucket reach pre-set velocity and dolly is in same upright position at dolly, need that the mode by the change acceleration/accel realize before dolly arrives pre-set velocity.For guaranteeing original work efficiency, establish dolly from commencing speed switch to reach predetermined speed time still for normal Acceleration and deceleration time 3s, dolly stops rear lift heavy without any swing, is a kind of soft landing state.

Prevent shaking theoretical analysis: the process that initial velocity is changed to pre-set velocity divided for four steps.For reaching the pre-set velocity value, must pass through first the first step, initial acceleration is a ₁, because a ₁, grab bucket produces backward or swing forward, and establishing this process time is t ₁, by a ₁The pivot angle changing value that produces is θ 1, if a ₁＞0 when namely accelerating, and the speed of grab bucket is less than the speed of dolly, and horizontal displacement is also less than the dolly displacement, if a ₁＜0 when namely slowing down, and the speed of grab bucket is greater than the speed of dolly, and horizontal displacement is also greater than the dolly displacement.Then in subordinate phase, establishing acceleration/accel is a ₂, the time is t ₂, by a ₂The pivot angle changing value that produces is θ 2, catches up with the displacement of dolly, then a for allowing grab bucket ₁＞0 o'clock, a ₂＜0, and a ₁＜0 o'clock, a ₂The＞0, the 3rd quadravalence section is established acceleration/accel and is respectively a ₃And a ₄, the time is t ₃And t ₄, by a ₃And a ₄The pivot angle changing value that produces is respectively as θ 3 and θ 4, for pulsation-free reaches pre-set velocity, and a then ₁＞0, a ₂＜0 o'clock, a ₃＞0, a ₄＞0 and a ₁＜0, a ₂＞0 o'clock, a ₃＜0, a ₄＜0.

Be pre-set velocity when larger than initial velocity, accelerate first to slow down afterwards and accelerate again that pre-set velocity is slowed down first and accelerated afterwards again deceleration than initial velocity hour.And t ₁+ t ₂+ t ₃+ t ₄=3s, θ ₁+ θ ₂+ θ ₃+ θ ₄=0, θ ₁+ θ ₃+ θ ₄=-θ ₂

Fig. 3 is a ₁＜0, a ₂＞0, a ₃＜0, a ₄＜0 o'clock trolley travelling figure, establishing initial velocity is V ₀, end speed V _m, the displacement S of the relative dolly of swing ball ₁=l * sin θ ₁, S ₂=l * sin (θ ₁+ θ ₂), S ₃=l * sin (θ ₁+ θ ₂+ θ ₃), S ₄=l * sin (θ ₁+ θ ₂+ θ ₃+ θ ₄), the desirable anti-state S that shakes ₄=0.

At first analyze the relation of pivot angle and acceleration/accel and rope capacity and time.

Whole dolly grab bucket is simplified under the dolly hangs a single pendulum, suppose that the dolly acceleration/accel is a, at the equation of motion of any pivot angle θ be

It is carried out integral operation can get

A＜0, θ＞0 o'clock, $\sqrt{\frac{2\sqrt{a^2+g^2}}{l}[\cos ({\mathrm{\θ}}_1-\mathrm{arctg}\frac{a}{g})-\cos ({\mathrm{\θ}}_m-\mathrm{arctg}\frac{a}{g})]}={\mathrm{\θ}}_1^{/}$

A＞0, θ＜0 o'clock, $-\sqrt{\frac{2\sqrt{a^2+g^2}}{l}[\cos ({\mathrm{\θ}}_1-\mathrm{arctg}\frac{a}{g})-\cos ({\mathrm{\θ}}_m-\mathrm{arctg}\frac{a}{g})]}={\mathrm{\θ}}_1^{/}$

θ wherein _mBe maximum pendulum angle.Put any point the vertex process from nadir when single pendulum, namely pivot angle is from 0 → θ _t, the time is t, and above-mentioned formula integral operation, Taylor series expansion are found the solution the approximate value that can get t

$t=\sqrt{\frac{l}{\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="g"\; filenames="HDA00001663988600011.png,HDA00001663988600021.png"\; state="\{\{state\}\}">g</figure-callout>}}^2}}}\&lang;(1+\frac{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA00001663988600011.png,HDA00001663988600021.png"\; state="\{\{state\}\}">k</figure-callout>}}^2}{4}+\frac{{9\mathrm{<figure-callout\; id="4"\; label="k"\; filenames="HDA00001663988600011.png"\; state="\{\{state\}\}">k</figure-callout>}}^4}{64}-\frac{{25k}^6}{256})(u_2-u_1)-(\frac{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA00001663988600011.png,HDA00001663988600021.png"\; state="\{\{state\}\}">k</figure-callout>}}^2}{8}+\frac{{3\mathrm{<figure-callout\; id="4"\; label="k"\; filenames="HDA00001663988600011.png"\; state="\{\{state\}\}">k</figure-callout>}}^4}{32}-\frac{{76k}^6}{32\&times;32})(\sin {2u}_2-\sin {2u}_1)+(\frac{{3\mathrm{<figure-callout\; id="4"\; label="k"\; filenames="HDA00001663988600011.png"\; state="\{\{state\}\}">k</figure-callout>}}^4}{256}-\frac{{15k}^6}{1024})(\sin {4u}_2-\sin 4u_1)+\left(\frac{5}{32\&times;16\&times;16}\right)(\sin {6u}_2-\sin {6u}_1)\&rang;|$

Wherein $\arcsin \left(\frac{1}{k}\sin \right[\frac{{\mathrm{\&theta;}}_t-\mathrm{arctg}\frac{a}{g}}{2}\left]\right)=u_2,$ $\arcsin \left(\frac{1}{k}\sin \right[\frac{-\mathrm{arctg}\frac{a}{g}}{2}\left]\right)=u_1$

$\sin \left(\frac{{\mathrm{\&theta;}}_m-\mathrm{arctg}\frac{a}{g}}{2}\right)=k$

Figure below is according to following formula, the data sheet of listing with the EXCEL calculation sheet.

Can be drawn by upper table:

1) same time within 1/4th cycles, under the identical rope capacity condition, the absolute value of a is larger, the absolute value of angle is larger, at this moment between in the horizontal displacement that swings of grab bucket larger;

2) same time within 1/4th cycles, under the identical a condition, rope capacity is longer, angle is less, at this moment between in the horizontal displacement that swings of grab bucket larger;

Because-θ ₂＞θ ₁, and θ ₁, θ ₂Pivot angle poor by a ₃, a ₄Eliminate, for operator's comfort level is considered t ₂The smaller the better, calculate for convenient, choose t ₁=t ₂=0.5s, t ₃=t ₄=1s,

Can get a ₁=V _m-V ₀, according to relational expression time and pivot angle and acceleration/accel and rope length, through theoretical data analysis relatively, choose a ₂=-2a ₁=-2 (V _m-V ₀),

At different acceleration/accels, under the condition of rope length, can draw following data sheet.

As can be seen from the above table, under above-mentioned quadravalence section acceleration/accel and time conditions, different rope length and rate of onset, end speed, the S that draws ₄Substantially be 0, when namely final dolly reached pre-set velocity, dolly and grab bucket relative displacement were 0, can guarantee this moment to swing minimum.

Specific embodiments: speed is controlled by the PLC coding, and the output analog signals is to frequency converter, and by the frequency converter output motor, because the acceleration/accel segmentation changes, by the PLC program setting, the frequency converter Acceleration and deceleration time is made as 0.

Claims (2)

1. garbage grab bucket crane, comprise PLC, frequency converter and motor, it is characterized in that: the built-in anti-swing function module of described PLC, the velocity simulate value of described anti-each gear of swing function module input interface input hoisting crane, described anti-swing function module PLC mouth interface connects frequency converter, the parameter " acceleration/accel " that frequency converter connects on motor and the frequency converter is set to " 0 ", described anti-swing function module carries out transferring data to frequency converter after the computing to the velocity simulate value of input, and frequency converter is according to the rotating speed control machine operation of the data setting motor of inputting from anti-swing function module.

2. garbage grab bucket crane according to claim 1 is characterized in that: described anti-swing function module PLC mouth interface connects with shielding wire to be set up wireless telecommunications between frequency converter or anti-swing function module PLC mouth and frequency converter and is connected.

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