CN203865879U - Grab bucket bridge crane with trolley sprocket positioning system based on absolute value encoder - Google Patents
Grab bucket bridge crane with trolley sprocket positioning system based on absolute value encoder Download PDFInfo
- Publication number
- CN203865879U CN203865879U CN201420274649.8U CN201420274649U CN203865879U CN 203865879 U CN203865879 U CN 203865879U CN 201420274649 U CN201420274649 U CN 201420274649U CN 203865879 U CN203865879 U CN 203865879U
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- China
- Prior art keywords
- absolute value
- sprocket
- value encoder
- wheel
- chain
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- 241000282693 Cercopithecidae Species 0.000 claims description 19
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000002965 rope Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 239000003638 reducing agent Substances 0.000 abstract description 3
- 238000004804 winding Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 14
- 238000004891 communication Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 5
- 235000021050 feed intake Nutrition 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
Abstract
The utility model relates to a grab bucket bridge crane with a trolley sprocket positioning system based on an absolute value encoder. The grab bucket bridge crane comprises guide rails, a crane trolley and a control device, wherein a plurality of garbage feeding openings are formed below the guide rails; the crane trolley is connected to the guide rails through trolley wheels in a sliding manner; winding drums are mounted on the crane trolley, connected with grab buckets through wire cables, and driven to rotate by motors and reducers; a sprocket case is fixed to one side of the crane trolley; a sprocket shaft is in rotational connection with the interior of the sprocket case through bearings and is sleeved with a sprocket; the sprocket is connected with a chain extending in the length directions of the guide rails; one end of the sprocket shaft is connected with the absolute value encoder; the absolute value encoder is in electric connection with the control device. The trolley sprocket positioning system can not only realize positioning of the crane but also greatly improves the accuracy in positioning the crane.
Description
Technical field
The utility model relates to a kind of bridge grabbing crane technical field, the bridge grabbing crane with absolute value encoder dolly sprocket wheel position fixing system that especially a kind of precision is high, reliability is high.
Background technology
Along with the lifting for the treatment of of urban garbage amount, the grab crane demand that garbage incinerating power plant is used improves constantly; The requirement of automation degree of equipment and positioning precision is also constantly increased, and absolute value encoder being applied in constantly on hoisting crane increased.In the grab crane technology of using at existing garbage incinerating power plant, traditional employing incremental encoder must come ranging pulse number to calculate position coordinate by high-speed counter module SM331, the continuous like this calculation task that increases the weight of accepting device PLC, when coder generation power-off, electromagnetic interference or communicating interrupt, will cause loss of data.
Summary of the invention
The purpose of this utility model is to solve above-mentioned the deficiencies in the prior art, and proposes a kind of dolly sprocket wheel position fixing system based on absolute value encoder, and this system not only can solve the problem of hoisting crane location, and can increase substantially the precision of its location.
The utility model solves the technical scheme that its technical matters adopts:
The bridge grabbing crane with absolute value encoder dolly sprocket wheel position fixing system, comprise guide rail, monkey and control setup, guide rail below is provided with a plurality of rubbish dog-houses, monkey is slidably connected on guide rail by car wheel, reel is installed on monkey, reel is capable is connected with grab bucket by steel rope, on reel, by motor and speed reducer, drive rotation, it is characterized in that, described monkey one side is fixed with chain-wheel box, in chain-wheel box, by bearing, be rotatably connected to sprocket shaft, on sprocket shaft, be socketed with sprocket wheel, on sprocket wheel, connect the chain extending along the length direction of guide rail, sprocket shaft one end is connected with absolute value encoder, absolute value encoder and control setup are electrically connected.
The utility model can also adopt following technical measures to solve:
On the chain-wheel box of described sprocket wheel both sides, be symmetrically installed with two tension wheels, two tension wheels are connected with chain tension simultaneously.
The vehicle motor that drives car wheel is installed on described monkey, monkey is moved on guide rail, vehicle motor and control setup are electrically connected.
Chain-wheel box between described two tension wheels is provided with two sprocket wheels, comprises head sprocket and standby sprocket wheel, and the main chain wheel one end on head sprocket is connected with main absolute value encoder, and the standby sprocket shaft one end on standby sprocket wheel is connected with standby absolute value encoder.
Described absolute value encoder is provided with coder axle, and coder axle is connected with sprocket shaft one end.
Described absolute value encoder is arranged on chain-wheel box one side by coder support.
Described control setup comprises PLC and frequency converter.
Described control setup also comprises touch-screen, PROFIBUS-DP bus communication card and frequency converter etc., described PROFIBUS-DP bus communication card is arranged in frequency converter draw-in groove, and described the multi-turn absolute value encoder with DP interface, frequency converter all link and connect with PROFIBUS-DP bus communication.
The principle of work of the utility model patent is:
(1) precision ε≤50mm that first initial setting is located in control setup, selects certain rubbish dog-house to feed intake, and its coordinate is y0;
(2) when starting to feed intake, dolly brings into operation, sprocket wheel and chain mesh and rotate, drive sprocket shaft rotates, the absolute value encoder being connected with sprocket shaft is constantly measured in real time, to PLC control system, converted the Gray code data transmission producing to binary numerical value, be the step number N of the number of turns M that turns of actual trundle and an inadequate circle, then according to the dimensional parameters of dolly data such as () length, width, calculate its actual displacement y;
(3) dolly is in dog-house operational process, and whether Rule of judgment y-y0≤ε sets up, if condition is set up, has located; If be false, continue to regulate until reach desired positioning precision.
By technique scheme, the CPU of described PLC is also connected with SRAM SRAM and reseting module.
By technique scheme, described PLC adopts field bus communication mode, and Transmission bit rate reaches 1.5M/s.
By technique scheme, described absolute value encoder disposes PROFIBUS-DP address card.
By technique scheme, the absolute value encoder model of described multi-turn is A3M60B-S4PB013X13, and resolution reaches 8192 * 8192.
By technique scheme, touch-screen is connected with PLC by RJ45 Ethernet interface.
The beneficial effects of the utility model are:
(1), positioning system using absolute value encoder of the present utility model is as the element of measuring, its Measurement Resolution can improve the precision of location to a great extent, positioning trolley is arranged on guide rail, because sprocket wheel, sprocket shaft and chain intermesh, even if tyre skidding also not can on check result have any impact,
(2), the utility model is usingd PROFIBUS field bus as signalling methods simultaneously, greatly reduced the work capacity of field wiring, and improved the stability of signal transmission, and can adapt to so relatively rugged environment of garbage incinerating power plant, reduce the labour intensity of operating personal.
(3), absolute value encoder of the present utility model is unique by each position determining with mechanical location, it is without memory, without looking for R point, and need not count always, when need location aware, when just go to read its position, like this, the noiseproof feature of coder, the reliability of data have improved.
(4) the utility model employing bus is that multi-turn absolute value encoder is as measuring tool, do not need to adopt high-speed counter module SM331, and do not exist the problem of zero offset to carry, and be provided with touch-screen, can show in real time dolly position and with the gap of target location, when the precision of location reaches requiring of default, on touch-screen, can show the state of having located.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the birds-eye view of relative Fig. 1.
Fig. 3 is the lateral plan of relative Fig. 1.
Fig. 4 is the structure cutaway view of the utility model medium chain roller box.
Fig. 5 is the structural representation of the utility model medium chain roller box.
Fig. 6 is the structural representation of another embodiment of the utility model medium chain roller box.
Fig. 7 is the structural representation of another embodiment of the utility model medium chain roller box.
The specific embodiment
Below in conjunction with drawings and Examples, the utility model is further illustrated.
As shown in Figure 1 and Figure 5, the bridge grabbing crane with absolute value encoder dolly sprocket wheel position fixing system, comprise guide rail 1, monkey 2 and control setup, monkey 2 is slidably connected on guide rail 1 by car wheel 4, reel 5 is installed on monkey 2, reel 5 row are connected with grab bucket 7 by steel rope 6, 7 belows of grabbing bucket are provided with a plurality of rubbish dog-houses 3, on reel 5, by motor 8 and reductor 9, drive and rotate, it is characterized in that, described monkey 2 one sides are fixed with chain-wheel box 10, in chain-wheel box 10, by bearing 11, be rotatably connected to sprocket shaft 12, on sprocket shaft 12, be socketed with sprocket wheel 13, on sprocket wheel 13, connect the chain 14 extending along the length direction of guide rail 1, sprocket shaft 12 one end are connected with absolute value encoder 15, absolute value encoder 15 is electrically connected with control setup.
As the utility model more particular embodiment:
On the chain-wheel box 10 of described sprocket wheel 13 both sides, being symmetrically installed with two tension wheel 16, two tension wheels 16 is connected with chain 14 tensionings simultaneously.
The vehicle motor 17 that drives car wheel 4 is installed on described monkey 2, monkey 2 is moved on guide rail 1, vehicle motor 17 is electrically connected with control setup.
Described absolute value encoder 15 is provided with coder axle 1501, and coder axle 1501 is connected with sprocket shaft one end.
Described absolute value encoder 15 is arranged on chain-wheel box 10 1 sides by coder support 18.
Described control setup comprises PLC and frequency converter.
Described control setup also comprises touch-screen, PROFIBUS-DP bus communication card and frequency converter etc., described PROFIBUS-DP bus communication card is arranged in frequency converter draw-in groove, and described the multi-turn absolute value encoder with DP interface, frequency converter all link and connect with PROFIBUS-DP bus communication.
The principle of work of the utility model patent is:
(1) precision ε≤50mm that first initial setting is located in control setup, selects certain rubbish dog-house to feed intake, and its coordinate is y0;
(2) when starting to feed intake, dolly brings into operation, sprocket wheel and chain mesh and rotate, drive sprocket shaft rotates, the absolute value encoder being connected with sprocket shaft is constantly measured in real time, to PLC control system, converted the Gray code data transmission producing to binary numerical value, be the step number N of the number of turns M that turns of actual trundle and an inadequate circle, then according to the dimensional parameters of dolly data such as () length, width, calculate its actual displacement y;
(3) dolly is in dog-house operational process, and whether Rule of judgment y-y0≤ε sets up, if condition is set up, has located, and vehicle motor is out of service, and motor and speed reducer drives reel to carry out lifting to grab bucket and captures rubbish and feed intake; If be false, continue to regulate until reach desired positioning precision.
Monkey operation comprise advance at utmost speed, two processes in low speed location; The stage of location is in dolly low speed process.
By technique scheme, the CPU of described PLC is also connected with SRAM SRAM and reseting module.
By technique scheme, described PLC adopts field bus communication mode, and Transmission bit rate reaches 1.5M/s.
By technique scheme, described absolute value encoder disposes PROFIBUS-DP address card.
By technique scheme, the absolute value encoder model of described multi-turn is A3M60B-S4PB013X13, and resolution reaches 8192 * 8192.
By technique scheme, touch-screen is connected with PLC by RJ45 Ethernet interface.
As another embodiment, as shown in Figure 6 to 7, chain-wheel box between described two tension wheels 16 is provided with two sprocket wheels, comprise head sprocket 19 and standby sprocket wheel 20, main chain wheel 1901 one end on head sprocket 19 are connected with main absolute value encoder 21, and standby sprocket shaft 2001 one end on standby sprocket wheel 20 are connected with standby absolute value encoder 22; The present embodiment is set up standby sprocket wheel 20, standby sprocket shaft 2001 and standby absolute value encoder 22, to prevent that main absolute value encoder 21 lost efficacy or because of after other faults damage, can carry out standby use by standby absolute value encoder 22, after immediately reinstalling, disassemble maintenance, increase work efficiency and the stability of machine work.
Above-described specific embodiment, is only the utility model preferred embodiment, and the equivalent arrangements of such as doing according to the utility model claim, all should be technology of the present utility model and contain.
Claims (7)
1. the bridge grabbing crane with absolute value encoder dolly sprocket wheel position fixing system, comprise guide rail (1), monkey (2) and control setup, monkey (2) is slidably connected on guide rail (1) by car wheel (4), reel (5) is installed on monkey (2), reel (5) row is connected with grab bucket (7) by steel rope (6), grab bucket (7) below is provided with a plurality of rubbish dog-houses (3), reel (5) is upper to be driven and is rotated by motor (8) and reductor (9), it is characterized in that, described monkey (2) one sides are fixed with chain-wheel box (10), in chain-wheel box (10), by bearing (11), be rotatably connected to sprocket shaft (12), on sprocket shaft (12), be socketed with sprocket wheel (13), the upper chain (14) extending along the length direction of guide rail 1 that connects of sprocket wheel (13), sprocket shaft (12) one end is connected with absolute value encoder (15), absolute value encoder (15) is electrically connected with control setup.
2. the bridge grabbing crane according to claim 1 with absolute value encoder dolly sprocket wheel position fixing system, it is characterized in that, on the chain-wheel box (10) of described sprocket wheel (13) both sides, be symmetrically installed with two tension wheels (16), two tension wheels (16) are connected with chain (14) tensioning simultaneously.
3. the bridge grabbing crane according to claim 1 with absolute value encoder dolly sprocket wheel position fixing system, it is characterized in that, the vehicle motor (17) that drives car wheel (4) is installed on described monkey (2), make monkey (2) upper mobile at guide rail (1), vehicle motor (17) is electrically connected with control setup.
4. the bridge grabbing crane according to claim 2 with absolute value encoder dolly sprocket wheel position fixing system, it is characterized in that, chain-wheel box between described two tension wheels (16) is provided with two sprocket wheels, comprise head sprocket (19) and standby sprocket wheel (20), main chain wheel (1901) one end on head sprocket (19) is connected with main absolute value encoder (21), and standby sprocket shaft (2001) one end on standby sprocket wheel (20) is connected with standby absolute value encoder (22).
5. the bridge grabbing crane according to claim 1 with absolute value encoder dolly sprocket wheel position fixing system, is characterized in that, described absolute value encoder (15) is provided with coder axle (1501), and coder axle (1501) is connected with sprocket shaft one end.
6. the bridge grabbing crane according to claim 1 with absolute value encoder dolly sprocket wheel position fixing system, is characterized in that, described absolute value encoder (15) is arranged on chain-wheel box (10) one sides by coder support (18).
7. the bridge grabbing crane according to claim 1 with absolute value encoder dolly sprocket wheel position fixing system, is characterized in that, described control setup comprises PLC and frequency converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420274649.8U CN203865879U (en) | 2014-05-27 | 2014-05-27 | Grab bucket bridge crane with trolley sprocket positioning system based on absolute value encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420274649.8U CN203865879U (en) | 2014-05-27 | 2014-05-27 | Grab bucket bridge crane with trolley sprocket positioning system based on absolute value encoder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203865879U true CN203865879U (en) | 2014-10-08 |
Family
ID=51646858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420274649.8U Withdrawn - After Issue CN203865879U (en) | 2014-05-27 | 2014-05-27 | Grab bucket bridge crane with trolley sprocket positioning system based on absolute value encoder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203865879U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103979428A (en) * | 2014-05-27 | 2014-08-13 | 广东永通起重机械实业有限公司 | Bridge grabbing crane of trolley chain wheel positioning system with absolute value encoder |
| CN104401877A (en) * | 2014-10-21 | 2015-03-11 | 武汉理工大学 | Four-rope grab bucket full-automatic operation monitoring and control system and synchronous control method thereof |
| CN107150961A (en) * | 2017-05-22 | 2017-09-12 | 无锡石油化工起重机有限公司 | The garbage grab bucket crane of purifier is installed |
-
2014
- 2014-05-27 CN CN201420274649.8U patent/CN203865879U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103979428A (en) * | 2014-05-27 | 2014-08-13 | 广东永通起重机械实业有限公司 | Bridge grabbing crane of trolley chain wheel positioning system with absolute value encoder |
| CN103979428B (en) * | 2014-05-27 | 2016-04-13 | 广东永通起重机械实业有限公司 | There is the bridge grabbing crane of absolute value encoder dolly sprocket wheel position fixing system |
| CN104401877A (en) * | 2014-10-21 | 2015-03-11 | 武汉理工大学 | Four-rope grab bucket full-automatic operation monitoring and control system and synchronous control method thereof |
| CN107150961A (en) * | 2017-05-22 | 2017-09-12 | 无锡石油化工起重机有限公司 | The garbage grab bucket crane of purifier is installed |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C25 | Abandonment of patent right or utility model to avoid double patenting | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141008 Effective date of abandoning: 20160413 |