CN204847945U - Intelligence deceleration system and have rising of its and rise closing mechanism , hoist, ship unloaders - Google Patents
Intelligence deceleration system and have rising of its and rise closing mechanism , hoist, ship unloaders Download PDFInfo
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- CN204847945U CN204847945U CN201520404773.6U CN201520404773U CN204847945U CN 204847945 U CN204847945 U CN 204847945U CN 201520404773 U CN201520404773 U CN 201520404773U CN 204847945 U CN204847945 U CN 204847945U
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Abstract
The utility model discloses an intelligence deceleration system and have rising of its and rise closing mechanism, the hoist, ship unloaders, in specifically carrying out intelligence speed reduction control, can be in real time accurate detection wire rope's position change, furthermore, computing process is simple, thereby make whole speed reduction method feedback speed very fast, furthermore, the real -time position and the real time speed of grab bucket / carrier loader are confirmed to real -time position through all ropes and the real -time rotational speed of all motors, real -time position and real time speed through grab bucket / carrier loader come the sureness to need the position and the distance of slowing down at last, has very high precision, the grab bucket / carrier loader of confirming that can be accurate begins the position of slowing down, furthermore, whether coincide with the position that begins to slow down through the real -time position of judgement grab bucket / carrier loader confirms whether start control instructs, the speed reduction precision has further been improved.
Description
Technical field
The utility model belongs to ship unloaders, hoisting crane technical field, particularly a kind of realize system that grab bucket/carrier loader intelligence slows down and have described can only the switching mechanism that hoist, hoisting crane, the ship unloaders of deceleration system.
Background technology
Grab bucket and the carrier loader of ship unloaders do uniformly accelerated motion usually, before arriving respective stop position, first will slow down, to ensure the normal stopping of grab bucket and carrier loader.
The ship unloaders of the ship unloaders of current domestic use mainly mechanical differential form, grab bucket and the carrier loader major part of this ship unloaders all do not have intelligent deceleration, usually arrange fixing decelerate position to carry out deceleration spacing, when grabbing bucket and carrier loader arrives respective decelerate position, forced deceleration can be carried out, for this ways of deceleration, if the spacing position of the grab bucket of setting and carrier loader fixing deceleration separately than its best decelerate position closer to stop position, then need to slow down with larger acceleration/accel, need larger energy consumption; If the grab bucket of setting and carrier loader fixing decelerate position separately than its best decelerate position further from stop position, then need to slow down with less acceleration/accel, the deceleration time of grab bucket and carrier loader will be extended like this, the work efficiency of impact grab bucket and carrier loader.In addition, this ways of deceleration itself that the decelerate position that setting is fixing carries out forced deceleration also can make the operation of grab bucket and carrier loader not smooth.
So the intelligence realizing grab bucket and carrier loader is slowed down, it is a developing direction in ship unloaders industry.And want the intelligence realizing grab bucket and carrier loader to slow down, first need the real time position detecting grab bucket and carrier loader.The ship unloaders of current routine mainly measure real time rotation angle and the speed of S. A. by the pulse coder be arranged on electric machine rotational axis, and then calculate the real time position of grab bucket and carrier loader by control system.This method detecting the real time position of grab bucket and carrier loader, control system is needed to carry out comparatively complex calculations according to the real time rotation angle of electric machine rotational axis and speed, finally obtain the real time position of grab bucket and carrier loader, the positional precision recorded is low, feedback speed is also slow, and neither be very accurate finally by the grab bucket calculated of control system and the intelligent decelerate position of carrier loader, intelligence can not be realized preferably and slow down.
Utility model content
Therefore, technical problem to be solved in the utility model is that existing intelligent retarding method precision is low, the technical matters that feedback speed is slow, thus a kind of switching mechanism that hoists, hoisting crane, the ship unloaders that record the high and intelligent deceleration system that feedback speed is fast of precision and have it are provided.
For solving the problems of the technologies described above, the utility model provides a kind of control to hoist the method that grab bucket/carrier loader intelligence is slowed down in switching mechanism, comprises the following steps:
Obtain the real time position correlation of raising line and opening and closing rope, obtain the real-time rotate speed correlation of lifting motor and opening and closing motor;
According to the real time position correlation of raising line and opening and closing rope, calculate the real time position of grab bucket/carrier loader, go out the real-time speed of described grab bucket/carrier loader according to the real-time rotate speed correlation value calculation of lifting motor and opening and closing motor; Calculate the distance of grab bucket/carrier loader needs deceleration according to real time position and real-time speed, the distance of slowing down as required determines the position that grab bucket/carrier loader reduces speed now;
Judge the real time position of grab bucket/carrier loader and need the position that reduces speed now whether to overlap, export/the control command that reduces speed now of carrier loader that controls to grab bucket when the position that the real time position and needs that judge grab bucket/carrier loader reduce speed now overlaps.
The described real time position correlation according to raising line and opening and closing rope, calculates the real time position of grab bucket/carrier loader, comprises
The real time position of raising line and opening and closing rope is drawn according to the real time position correlation value calculation of raising line and opening and closing rope;
The real time position of grab bucket/carrier loader is calculated according to the real time position of raising line and opening and closing rope.
The described real-time rotate speed correlation value calculation according to lifting motor and opening and closing motor goes out the real-time speed of described grab bucket/carrier loader, comprises
The real-time rotate speed of lifting motor and opening and closing motor is gone out according to the real-time rotate speed correlation value calculation of lifting motor and opening and closing motor;
The real-time speed of described grab bucket/carrier loader is calculated according to the real-time rotate speed of lifting motor and opening and closing motor.
The described distance calculating grab bucket/carrier loader needs deceleration according to real time position and real-time speed, comprises
The alternate position spike between the stop position of grab bucket/carrier loader and real time position is calculated according to the real time position of described grab bucket/carrier loader and stop position;
The distance that grab bucket/carrier loader needs to slow down is calculated according to the real-time speed of described grab bucket/carrier loader and alternate position spike.
Control hoists the system that grab bucket/carrier loader intelligence is slowed down in switching mechanism, comprises
Acquiring unit, for obtaining the real time position correlation of raising line and opening and closing rope, obtains the real-time rotate speed correlation of lifting motor and opening and closing motor;
Calculating unit, for the real time position correlation according to raising line and opening and closing rope, calculates the real time position of grab bucket/carrier loader, goes out the real-time speed of described grab bucket/carrier loader according to the real-time rotate speed correlation value calculation of lifting motor and opening and closing motor; Calculate the distance of grab bucket/carrier loader needs deceleration according to real time position and real-time speed, the distance of slowing down as required determines the position that grab bucket/carrier loader reduces speed now;
Whether judging unit, judge the real time position of grab bucket/carrier loader and need the position that reduces speed now to overlap, and exports to control to grab bucket/the control command that reduces speed now of carrier loader when the position that the real time position and needs that judge grab bucket/carrier loader reduce speed now overlaps.
Control hoists the system that grab bucket/carrier loader intelligence is slowed down in switching mechanism, comprises
Multiple coder, for detecting the real time position correlation of each raising line and each root opening and closing rope respectively, and detects the real-time rotate speed correlation of lifting motor and opening and closing motor;
Treater, be connected with coder, for going out the real time position of raising line and opening and closing rope according to described real time position correlation value calculation, the real-time rotate speed of lifting motor and opening and closing motor is gone out according to described real-time rotate speed correlation value calculation, the distance of grab bucket/carrier loader needs deceleration is calculated according to real time position and real-time rotate speed, the position that grab bucket/carrier loader reduces speed now is determined according to deceleration distance, and judge whether the real time position of carrier loader overlaps with needing the position reduced speed now, and/carrier loader the control command of slowing down that controls to grab bucket is exported when judging the real time position of carrier loader and need the position that reduces speed now to overlap,
Frequency converter, is connected with treater, for adjusting the rotating speed of described lifting motor and/or described opening and closing motor according to control command, slows down with the intelligence realizing grab bucket/carrier loader.
Described coder comprises
Absolute value encoder, for detecting the real time position correlation of raising line and opening and closing rope;
Pulse coder, for detecting the real-time rotate speed correlation of lifting motor and opening and closing motor.
One hoists switching mechanism, comprises
Lifting motor, for providing the power that hoists;
Speed reducer used in hoisting, has input shaft and output shaft, and input shaft is connected to the mouth of the S. A. of described lifting motor, transmits the power that hoists that lifting motor provides;
Hoisting drum, is connected on the output shaft of speed reducer used in hoisting, rotates by the driving of speed reducer used in hoisting S. A.;
Raising line, one end is connected on hoisting drum, and the other end is used for being connected with grab bucket, can carry out lifting action under the effect of hoisting drum;
Hoist changed course assembly pulley, for altering course for raising line to make raising line vertically stretch out;
Opening and closing motor, for providing opening and closing power;
Opening and closing retarder, has input shaft and output shaft, and input shaft is connected to the mouth of the S. A. of described opening and closing motor, transmits the power that hoists that opening and closing motor provides;
Opening and closing reel, is connected on the output shaft of opening and closing retarder, rotates by the driving of opening and closing retarder S. A.;
Opening and closing rope, one end is connected on an opening and closing reel, and the other end is used for being connected with grab bucket, can carry out on-off action under the effect of opening and closing reel;
Opening and closing changed course assembly pulley, for altering course for opening and closing rope to make opening and closing rope vertically stretch out; And
Above-mentioned control hoists the system that grab bucket/carrier loader intelligence is slowed down in switching mechanism.
Described absolute value encoder is connected on the output shaft of speed reducer used in hoisting and opening and closing retarder;
Described pulse coder is connected in the rotating shaft of lifting motor and opening and closing motor.
Described lifting motor is two, and described speed reducer used in hoisting is two, and described hoisting drum is two, described raising line is two, each lifting motor connects a speed reducer used in hoisting, and each speed reducer used in hoisting connects a hoisting drum, and each hoisting drum connects a raising line;
Described opening and closing motor is two, described opening and closing retarder is two, described opening and closing reel is two, described opening and closing rope is two, each opening and closing motor connects an opening and closing retarder, each opening and closing retarder connects an opening and closing reel (8), and each opening and closing reel connects an opening and closing rope;
Each described lifting motor, described opening and closing motor are separately installed with a pulse coder;
Each speed reducer used in hoisting and opening and closing retarder install an absolute value encoder respectively.
A kind of hoisting crane, comprises the switching mechanism that hoists described in above-mentioned any one.
A kind of ship unloaders, comprise the switching mechanism that hoists described in above-mentioned any one.
Technique scheme of the present utility model has the following advantages compared to existing technology:
(1) intelligent deceleration system of the present utility model, specifically carrying out in intelligence deceleration control, the change in location of steel rope can be detected in real time accurately, and, computation process is simple, thus make the feedback speed of whole retarding method very fast, and, real time position and the real-time speed of grab bucket/carrier loader is determined by the real time position of all ropes and the real-time rotate speed of all motors, the position that needs to slow down and distance is determined finally by the real time position of grab bucket/carrier loader and real-time speed, there is very high precision, the position that grab bucket 20/ carrier loader reduces speed now can be determined accurately, and, determine whether to start control command by judging whether the real time position of grab bucket 20/ carrier loader and the position reduced speed now overlap, further increase deceleration precision.
(3) switching mechanism that hoists of the present utility model, the S. A. of lifting motor and opening and closing motor installs pulse coder, for detecting lifting motor respectively, the enforcement rotating speed correlation of opening and closing motor, the S. A. of the mouth of speed reducer used in hoisting and opening and closing retarder installs absolute value encoder respectively, for detecting raising line respectively, the real time position correlation of opening and closing rope, therefore, in a particular application, the above-mentioned switching mechanism that hoists is combined with corresponding control system, just can utilize real-time rotate speed correlation and real time position correlation, by corresponding calculating, draw the position that reduces speed now before described grab bucket and/or carrier loader deceleration stopping accurately, and detect described grab bucket and/or carrier loader arrive respective reduce speed now position time, the rotating speed adjusting described lifting motor and/or described opening and closing motor realizes the deceleration of grab bucket and/or carrier loader, especially the position that reduces speed now of grab bucket and/or carrier loader in the ship unloaders that the motion of each rope is independently controlled by single motor or hoisting crane can accurately be drawn, make it realize intelligence preferably to slow down, the intelligence being applicable to the ship unloaders of various ways or the grab bucket of hoisting crane and/or carrier loader is slowed down, have wide range of applications.
Accompanying drawing explanation
In order to make content of the present utility model be more likely to be clearly understood, below according to specific embodiment of the utility model also by reference to the accompanying drawings, the utility model is described in further detail, wherein
Fig. 1 is the diagram of circuit of the intelligent retarding method in a kind of embodiment of the utility model;
Fig. 2 is the diagram of circuit of the intelligent deceleration system in a kind of embodiment of the utility model;
Fig. 3 is that the utility model hoists a kind of embodiment structural representation of switching mechanism;
Fig. 4 be the utility model hoist switching mechanism a kind of embodiment in the mechanics annexation figure of each parts;
In figure, Reference numeral is expressed as: 1-lifting motor, 2-speed reducer used in hoisting, 3-hoisting drum, 4-raising line, 5-hoists changed course assembly pulley, 6-opening and closing motor, 7-opening and closing retarder, 8-opening and closing reel, 9-opening and closing rope, 10-opening and closing changed course assembly pulley, 20-grabs bucket, 30-pulse coder, 40-absolute value encoder, 50-dolly.
Detailed description of the invention
Below with reference to accompanying drawing, following examples are used to be further elaborated the utility model.
Embodiment 1
As shown in Figure 1, a kind of control hoists the method that grab bucket/carrier loader intelligence is slowed down in switching mechanism, comprises the following steps:
Obtain the real time position correlation of raising line 4 and opening and closing rope 9, obtain the real-time rotate speed correlation of lifting motor 1 and opening and closing motor 6;
According to the real time position correlation of raising line 4 and opening and closing rope 9, calculate the real time position of grab bucket 20/ carrier loader, go out the real-time speed of described grab bucket 20/ carrier loader according to the real-time rotate speed correlation value calculation of lifting motor 1 and opening and closing motor 6; Calculate the distance of grab bucket 20/ carrier loader needs deceleration according to real time position and real-time speed, the distance of slowing down as required determines the position that grab bucket 20/ carrier loader reduces speed now;
Judging whether the real time position of grab bucket 20/ carrier loader overlaps with needing the position reduced speed now, exporting when the position judging that the real time position of grab bucket 20/ carrier loader and needs reduce speed now overlaps the control command controlling grab bucket 20/ carrier loader and reduce speed now.
In the process, the change in location of steel rope can be detected in real time accurately, and, computation process is simple, thus make the feedback speed of whole retarding method very fast, and, real time position and the real-time speed of grab bucket/carrier loader is determined by the real time position of all ropes and the real-time rotate speed of all motors, the position that needs to slow down and distance is determined finally by the real time position of grab bucket/carrier loader and real-time speed, there is very high precision, the position that grab bucket 20/ carrier loader reduces speed now can be determined accurately, and, determine whether to start control command by judging whether the real time position of grab bucket 20/ carrier loader and the position reduced speed now overlap, further increase deceleration precision.
The described real time position correlation according to raising line 4 and opening and closing rope 9, calculates the real time position of grab bucket 20/ carrier loader, comprises
The real time position of raising line 4 and opening and closing rope 9 is drawn according to the real time position correlation value calculation of raising line 4 and opening and closing rope 9;
The real time position of grab bucket 20/ carrier loader is calculated according to the real time position of raising line 4 and opening and closing rope 9.
The described real-time rotate speed correlation value calculation according to lifting motor 1 and opening and closing motor 6 goes out the real-time speed of described grab bucket 20/ carrier loader, comprises
The real-time rotate speed of lifting motor 1 and opening and closing motor 6 is gone out according to the real-time rotate speed correlation value calculation of lifting motor 1 and opening and closing motor 6;
The real-time speed of described grab bucket 20/ carrier loader is calculated according to the real-time rotate speed of lifting motor 1 and opening and closing motor 6.
The described distance calculating the deceleration of grab bucket 20/ carrier loader needs according to real time position and real-time speed, comprises
The alternate position spike between the stop position of grab bucket 20/ carrier loader and real time position is calculated according to the real time position of described grab bucket 20/ carrier loader and stop position;
The distance that grab bucket 20/ carrier loader needs to slow down is calculated according to the real-time speed of described grab bucket 20/ carrier loader and alternate position spike.
Particularly, after the real time position correlation obtaining raising line 4 or opening and closing rope 9, (described regulation coefficient K affects by the factor such as sensor model number, installation to be multiplied by a regulation coefficient K with described real time position correlation, not by the impact of grab bucket/carrier loader motion), the real time position of described raising line 4 or described opening and closing rope 9 can be drawn.In the present embodiment, described raising line 4 is two, and described opening and closing rope 9 is two, and the real time position of latter two raising line 4 of assumed calculation is respectively P1, P2, and the real time position of two opening and closing ropes 9 is respectively P3, P4, then
The real time position P that hoists of described grab bucket 20 is by following formulae discovery: P=(P1+P2)/2;
The real time position T of described carrier loader is by following formulae discovery: T=(P2-P1)/2;
The opening and closing real time position P ' of described grab bucket is by following formulae discovery: P '=(P4+P3-P1-P2)/2.
After the real-time rotate speed correlation obtaining lifting motor 1 or opening and closing motor 6, (described regulation coefficient K ' affects by the factor such as sensor model number, installation to be multiplied by a regulation coefficient K ' with described real-time rotate speed correlation, not by the impact of grab bucket/carrier loader motion), the real-time speed of described raising line 4 or described opening and closing rope 9 can be drawn, assuming that the real-time speed of two raising lines 4 is respectively V1, V2, the real-time speed of two opening and closing ropes 9 is respectively V3, V4, then
The real-time speed V that hoists of described grab bucket 20 is by following formulae discovery: V=(V1+V2)/2;
The real-time speed C of described carrier loader is by following formulae discovery: C=(V2-V1)/2;
The opening and closing real-time speed V ' of described grab bucket is by following formulae discovery: V '=V3-V1.
The concrete form of described carrier loader can have multiple, and in the present embodiment, described carrier loader is dolly 50.
Embodiment 2
Control hoists the system that grab bucket/carrier loader intelligence is slowed down in switching mechanism,
As shown in Figure 2, acquiring unit, for obtaining the real time position correlation of raising line 4 and opening and closing rope 9, obtains the real-time rotate speed correlation of lifting motor 1 and opening and closing motor 6;
Calculating unit, for the real time position correlation according to raising line 4 and opening and closing rope 9, calculate the real time position of grab bucket 20/ carrier loader, the real-time rotate speed correlation value calculation according to lifting motor 1 and opening and closing motor 6 goes out described grab bucket 20) real-time speed of/carrier loader; Calculate the distance of grab bucket 20/ carrier loader needs deceleration according to real time position and real-time speed, the distance of slowing down as required determines the position that grab bucket 20/ carrier loader reduces speed now;
Judging unit, judging whether the real time position of grab bucket 20/ carrier loader overlaps with needing the position reduced speed now, exporting when the position judging that the real time position of grab bucket 20/ carrier loader and needs reduce speed now overlaps the control command controlling grab bucket 20/ carrier loader and reduce speed now.
In the process, the change in location of steel rope can be detected in real time accurately, and, computation process is simple, thus make the feedback speed of whole retarding method very fast, and, real time position and the real-time speed of grab bucket/carrier loader is determined by the real time position of all ropes and the real-time rotate speed of all motors, the position that needs to slow down and distance is determined finally by the real time position of grab bucket/carrier loader and real-time speed, there is very high precision, the position that grab bucket 20/ carrier loader reduces speed now can be determined accurately, and, determine whether to start control command by judging whether the real time position of grab bucket 20/ carrier loader and the position reduced speed now overlap, further increase deceleration precision.
Particularly, described calculating unit comprises
First computation subunit, draws the real time position of raising line 4 and opening and closing rope 9 according to the real time position correlation value calculation of raising line 4 and opening and closing rope 9;
Second computation subunit, calculates the real time position of grab bucket 20/ carrier loader according to the real time position of raising line 4 and opening and closing rope 9;
3rd computation subunit, goes out the real-time rotate speed of lifting motor 1 and opening and closing motor 6 according to the real-time rotate speed correlation value calculation of lifting motor 1 and opening and closing motor 6;
4th computation subunit, calculates the real-time speed of described grab bucket 20/ carrier loader according to the real-time rotate speed of lifting motor 1 and opening and closing motor 6.
5th computation subunit, calculates the alternate position spike between the stop position of grab bucket 20/ carrier loader and real time position according to the real time position of described grab bucket 20/ carrier loader and stop position;
6th computation subunit, calculates according to the real-time speed of described grab bucket 20/ carrier loader and alternate position spike the distance that grab bucket 20/ carrier loader needs to slow down.
Embodiment 3
Control hoists the system that grab bucket/carrier loader intelligence is slowed down in switching mechanism, comprises
Multiple coder, for detecting the real time position correlation of each raising line 4 and each root opening and closing rope 9 respectively, and detects the real-time rotate speed correlation of lifting motor 1 and opening and closing motor 6;
Treater, be connected with coder, for going out the real time position of raising line 4 and opening and closing rope 9 according to described real time position correlation value calculation, the real-time rotate speed of lifting motor 1 and opening and closing motor 6 is gone out according to described real-time rotate speed correlation value calculation, the distance of grab bucket 20/ carrier loader needs deceleration is calculated according to real time position and real-time rotate speed, the position that grab bucket 20/ carrier loader reduces speed now is determined according to deceleration distance, and judge whether the real time position of carrier loader overlaps with needing the position reduced speed now, and export when the position judging that the real time position of carrier loader and needs reduce speed now overlaps the control command controlling grab bucket 20/ carrier loader and slow down,
Frequency converter, is connected with treater, for adjusting the rotating speed of described lifting motor 1 and/or described opening and closing motor 6 according to control command, slows down with the intelligence realizing grab bucket 20/ carrier loader.
Said system, specifically carrying out in intelligence deceleration control, the change in location of steel rope can be detected in real time accurately, and, computation process is simple, thus make the feedback speed of whole retarding method very fast, and, real time position and the real-time speed of grab bucket/carrier loader is determined by the real time position of all ropes and the real-time rotate speed of all motors, the position that needs to slow down and distance is determined finally by the real time position of grab bucket/carrier loader and real-time speed, there is very high precision, the position that grab bucket 20/ carrier loader reduces speed now can be determined accurately, and, determine whether to start control command by judging whether the real time position of grab bucket 20/ carrier loader and the position reduced speed now overlap, further increase deceleration precision.
As preferably, described coder comprises
Absolute value encoder 40, for detecting the real time position correlation of raising line 4 and opening and closing rope 9;
Pulse coder 30, for detecting the real-time rotate speed correlation of lifting motor 1 and opening and closing motor 6.
Embodiment 4
As shown in Figure 3 and Figure 4, one hoists switching mechanism, comprises
Lifting motor 1, for providing the power that hoists;
Speed reducer used in hoisting 2, has input shaft and output shaft, and input shaft is connected to the mouth of the S. A. of described lifting motor 1, transmits the power that hoists that lifting motor 1 provides;
Hoisting drum 3, is connected on the output shaft of speed reducer used in hoisting 2, rotates by the driving of speed reducer used in hoisting 2 S. A.;
Raising line 4, one end is connected on hoisting drum 3, and the other end is used for being connected with grab bucket 20, can carry out lifting action under the effect of hoisting drum 3;
Hoist changed course assembly pulley 5, for altering course for raising line 4, raising line 4 vertically stretched out;
Opening and closing motor 6, for providing opening and closing power;
Opening and closing retarder 7, has input shaft and output shaft, and input shaft is connected to the mouth of the S. A. of described opening and closing motor 6, transmits the power that hoists that opening and closing motor 6 provides;
Opening and closing reel 8, is connected on the output shaft of opening and closing retarder 7, rotates by the driving of opening and closing retarder 7 S. A.;
Opening and closing rope 9, one end is connected on an opening and closing reel 8, and the other end is used for being connected with grab bucket 20, can carry out on-off action under the effect of opening and closing reel 8;
Opening and closing changed course assembly pulley 10, makes opening and closing rope 9 vertically stretch out for altering course for opening and closing rope 9; And
Control the system that grab bucket/carrier loader intelligence is slowed down, wherein, controlling the intelligent system of slowing down of grab bucket/carrier loader is the system described in embodiment 3.
The above-mentioned switching mechanism that hoists applies to the technical field such as ship unloaders, hoisting crane, when the grab bucket 20 of ship unloaders or hoisting crane and/or carrier loader 50 are at operational process, described speed reducer used in hoisting 2 is driven to rotate by described lifting motor 1, the band described hoisting drum 3 be automatically connected on described speed reducer used in hoisting 2 rotates, and then makes the described raising line 4 be connected on described hoisting drum 3 carry out being elevated and/or translation motion; Described opening and closing motor 6 drives described opening and closing retarder 7 to rotate, and the band described opening and closing reel 8 be automatically connected on described opening and closing retarder 7 rotates, and then makes the described opening and closing rope 9 be connected on described opening and closing reel 8 carry out being elevated and/or translation motion; Described raising line 4 and described opening and closing rope 9 jointly the band grab bucket 20 be automatically connected on raising line 4 and opening and closing rope 9 carry out the conveying campaign of material, one end that described raising line 4, described opening and closing rope 9 connect separately described grab bucket 20 when connecting described grab bucket 20 first through the carrier loader 50 be positioned on ship unloaders or Crane Beam, described carrier loader 50 under the combined action of described raising line 4, described opening and closing rope 9 along described crossbeam alternating translational.The S. A. of described lifting motor 1 is now detected in real time by described pulse coder 30, the real-time rotate speed correlation of the S. A. of described opening and closing motor 6, described absolute value encoder 40 detects described raising line 4 in real time, the real time position correlation of described opening and closing rope 9, therefore, in a particular application, the above-mentioned switching mechanism that hoists is combined with corresponding control system, just can utilize real-time rotate speed correlation and real time position correlation, by corresponding calculating, draw the position reduced speed now before described grab bucket 20 and/or carrier loader 50 deceleration stopping, and detect described grab bucket 20 and/or carrier loader 50 arrive respective reduce speed now position time, adjust the rotating speed of described lifting motor 4 and/or described opening and closing motor 9 to realize the deceleration of grab bucket 20 and/or carrier loader 50.
The above-mentioned switching mechanism that hoists, there is intelligent deceleration, specifically carrying out in intelligence deceleration control, the change in location of steel rope can be detected in real time accurately, and, computation process is simple, thus make the feedback speed of whole retarding method very fast, and, real time position and the real-time speed of grab bucket/carrier loader is determined by the real time position of all ropes and the real-time rotate speed of all motors, the position that needs to slow down and distance is determined finally by the real time position of grab bucket/carrier loader and real-time speed, there is very high precision, the position that grab bucket 20/ carrier loader reduces speed now can be determined accurately, and, determine whether to start control command by judging whether the real time position of grab bucket 20/ carrier loader and the position reduced speed now overlap, further increase deceleration precision.
As preferably, as shown in Figure 4, described absolute value encoder 40 is connected on the output shaft of speed reducer used in hoisting 2 and opening and closing retarder 7;
Described pulse coder 30 is connected in the rotating shaft of lifting motor 1 and opening and closing motor 6.
The numerical value that this kind of set-up mode makes coder obtain is more accurate.
As preferably, described lifting motor 1 is two, described speed reducer used in hoisting 2 is two, described hoisting drum 3 is two, described raising line 4 is two, each lifting motor 1 connects a speed reducer used in hoisting 2, and each speed reducer used in hoisting 2 connects a hoisting drum 3, and each hoisting drum 3 connects a raising line 4;
Described opening and closing motor 6 is two, described opening and closing retarder 7 is two, described opening and closing reel 8 is two, described opening and closing rope 9 is two, each opening and closing motor 6 connects an opening and closing retarder 7, each opening and closing retarder 7 connects an opening and closing reel 8, and each opening and closing reel 8 connects an opening and closing rope 9;
Each described lifting motor 1, described opening and closing motor 6 are separately installed with a pulse coder;
Each speed reducer used in hoisting 2 and opening and closing retarder 7 install an absolute value encoder respectively.
As distortion, the switching mechanism that hoists can also be following embodiment:
Lifting motor 1 is one, and speed reducer used in hoisting is the differential speed reducer that hoists, and the differential speed reducer that hoists described in each comprises one and connects the input end of described lifting motor 1 and two mouths being connected two described hoisting drums 3 respectively;
Opening and closing motor 6 is one, and opening and closing retarder is opening and closing differential speed reducer, and each described opening and closing differential speed reducer comprises one and connects the input end of described opening and closing motor 6 and two mouths being connected two described opening and closing reels 8 respectively;
Also namely, a lifting motor connects two hoisting drums 2 by the differential speed reducer that hoists, and then connects two raising lines, and an opening and closing motor connects two opening and closing reels 2 by an opening and closing differential speed reducer, and then connects two opening and closing ropes;
Described pulse coder 30 is two, is arranged on the S. A. of described lifting motor 1 and described opening and closing motor 6 respectively;
Described absolute value encoder 40 is two, hoists on one of them S. A. of differential speed reducer described in being arranged on respectively, and on one of them S. A. of described opening and closing differential speed reducer; Described absolute value encoder 40 also can be four, hoists on each S. A. of differential speed reducer described in being arranged on respectively, and on each S. A. of described opening and closing differential speed reducer.
Embodiment 5
A kind of hoisting crane, comprising the switching mechanism that hoists described in claim embodiment 4, because having the switching mechanism that hoists described in embodiment 4, therefore, having the advantage described in embodiment 4.
Embodiment 6
A kind of ship unloaders, comprising the switching mechanism that hoists described in claim embodiment 4, because having the switching mechanism that hoists described in embodiment 4, therefore, having the advantage described in embodiment 4.
Obviously, above-described embodiment is only for clearly example being described, and the restriction not to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.And thus the apparent change of extending out or variation be still among the protection domain that the utility model creates.
Claims (8)
1. an intelligent deceleration system, slow down for the intelligence controlling grab bucket/carrier loader, it is characterized in that comprising:
Multiple coder, for detecting the real time position correlation of each raising line (4) and each root opening and closing rope (9) respectively, and detects the real-time rotate speed correlation of lifting motor (1) and opening and closing motor (6);
Treater, be connected with coder, for going out the real time position of raising line (4) and opening and closing rope (9) according to described real time position correlation value calculation, the real-time rotate speed of lifting motor (1) and opening and closing motor (6) is gone out according to described real-time rotate speed correlation value calculation, the distance of grab bucket (20)/carrier loader needs deceleration is calculated according to real time position and real-time rotate speed, the position that grab bucket (20)/carrier loader reduces speed now is determined according to deceleration distance, and judge whether the real time position of carrier loader overlaps with needing the position reduced speed now, and the control command that (the 20)/carrier loader that controls to grab bucket slows down is exported when judging the real time position of carrier loader and need the position that reduces speed now to overlap,
Frequency converter, is connected with treater, for adjusting the rotating speed of described lifting motor (1) and/or described opening and closing motor (6) according to control command, slows down with the intelligence realizing grab bucket (20)/carrier loader.
2. intelligent deceleration system according to claim 1, is characterized in that: described coder comprises
Absolute value encoder (40), for detecting the real time position correlation of raising line (4) and opening and closing rope (9);
Pulse coder (30), for detecting the real-time rotate speed correlation of lifting motor (1) and opening and closing motor (6).
3. hoist a switching mechanism, it is characterized in that: comprise
Lifting motor (1), for providing the power that hoists;
Speed reducer used in hoisting (2), has input shaft and output shaft, and input shaft is connected to the mouth of the S. A. of described lifting motor (1), transmits the power that hoists that lifting motor (1) provides;
Hoisting drum (3), is connected on the output shaft of speed reducer used in hoisting (2), rotates by the driving of speed reducer used in hoisting (2) S. A.;
Raising line (4), one end is connected on hoisting drum (3), and the other end is used for being connected with grab bucket (20), can carry out lifting action under the effect of hoisting drum (3);
Hoist changed course assembly pulley (5), for altering course for raising line (4) to make raising line (4) vertically stretch out;
Opening and closing motor (6), for providing opening and closing power;
Opening and closing retarder (7), has input shaft and output shaft, and input shaft is connected to the mouth of the S. A. of described opening and closing motor (6), transmits the power that hoists that opening and closing motor (6) provides;
Opening and closing reel (8), is connected on the output shaft of opening and closing retarder (7), rotates by the driving of opening and closing retarder (7) S. A.;
Opening and closing rope (9), one end is connected on an opening and closing reel (8), and the other end is used for being connected with grab bucket (20), can carry out on-off action under the effect of opening and closing reel (8);
Opening and closing changed course assembly pulley (10), for altering course for opening and closing rope (9) to make opening and closing rope (9) vertically stretch out; And
Intelligent deceleration system according to claim 1.
4. hoist a switching mechanism, it is characterized in that: comprise
Lifting motor (1), for providing the power that hoists;
Speed reducer used in hoisting (2), has input shaft and output shaft, and input shaft is connected to the mouth of the S. A. of described lifting motor (1), transmits the power that hoists that lifting motor (1) provides;
Hoisting drum (3), is connected on the output shaft of speed reducer used in hoisting (2), rotates by the driving of speed reducer used in hoisting (2) S. A.;
Raising line (4), one end is connected on hoisting drum (3), and the other end is used for being connected with grab bucket (20), can carry out lifting action under the effect of hoisting drum (3);
Hoist changed course assembly pulley (5), for altering course for raising line (4) to make raising line (4) vertically stretch out;
Opening and closing motor (6), for providing opening and closing power;
Opening and closing retarder (7), has input shaft and output shaft, and input shaft is connected to the mouth of the S. A. of described opening and closing motor (6), transmits the power that hoists that opening and closing motor (6) provides;
Opening and closing reel (8), is connected on the output shaft of opening and closing retarder (7), rotates by the driving of opening and closing retarder (7) S. A.;
Opening and closing rope (9), one end is connected on an opening and closing reel (8), and the other end is used for being connected with grab bucket (20), can carry out on-off action under the effect of opening and closing reel (8);
Opening and closing changed course assembly pulley (10), for altering course for opening and closing rope (9) to make opening and closing rope (9) vertically stretch out; And
Intelligent deceleration system according to claim 2.
5. the switching mechanism that hoists according to claim 4, is characterized in that:
Described absolute value encoder is connected on the output shaft of speed reducer used in hoisting (2) and opening and closing retarder (7);
Described pulse coder is connected in the rotating shaft of lifting motor (1) and opening and closing motor (6).
6. the switching mechanism that hoists according to claim 5, is characterized in that:
Described lifting motor (1) is two, described speed reducer used in hoisting (2) is two, described hoisting drum (3) is two, described raising line (4) is two, each lifting motor (1) connects a speed reducer used in hoisting (2), each speed reducer used in hoisting (2) connects a hoisting drum (3), and each hoisting drum (3) connects a raising line (4);
Described opening and closing motor (6) is two, described opening and closing retarder (7) is two, described opening and closing reel (8) is two, described opening and closing rope (9) is two, each opening and closing motor (6) connects an opening and closing retarder (7), each opening and closing retarder (7) connects an opening and closing reel (8), and each opening and closing reel (8) connects an opening and closing rope (9);
Each described lifting motor (1), described opening and closing motor (6) are separately installed with a pulse coder;
Each speed reducer used in hoisting (2) and opening and closing retarder (7) install an absolute value encoder respectively.
7. a hoisting crane, is characterized in that: comprise the switching mechanism that hoists according to any one of claim 4-6.
8. ship unloaders, is characterized in that: comprise the switching mechanism that hoists according to any one of claim 4-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520404773.6U CN204847945U (en) | 2015-06-12 | 2015-06-12 | Intelligence deceleration system and have rising of its and rise closing mechanism , hoist, ship unloaders |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520404773.6U CN204847945U (en) | 2015-06-12 | 2015-06-12 | Intelligence deceleration system and have rising of its and rise closing mechanism , hoist, ship unloaders |
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| CN204847945U true CN204847945U (en) | 2015-12-09 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104909275A (en) * | 2015-06-12 | 2015-09-16 | 华电重工股份有限公司 | Method and system for intelligently reducing speed of grab bucket/carrier loader and lifting-switching mechanism |
| CN108373105A (en) * | 2018-04-28 | 2018-08-07 | 上海振华重工(集团)股份有限公司 | Bridge-type four winding drum grab type ship unloaders electrical differential system |
| CN109901504A (en) * | 2019-03-15 | 2019-06-18 | 上海振华重工(集团)股份有限公司 | Intelligent deceleration system and method |
-
2015
- 2015-06-12 CN CN201520404773.6U patent/CN204847945U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104909275A (en) * | 2015-06-12 | 2015-09-16 | 华电重工股份有限公司 | Method and system for intelligently reducing speed of grab bucket/carrier loader and lifting-switching mechanism |
| CN108373105A (en) * | 2018-04-28 | 2018-08-07 | 上海振华重工(集团)股份有限公司 | Bridge-type four winding drum grab type ship unloaders electrical differential system |
| CN108373105B (en) * | 2018-04-28 | 2019-09-06 | 上海振华重工(集团)股份有限公司 | Bridge-type four winding drum grab type ship unloaders electrical differential system |
| CN109901504A (en) * | 2019-03-15 | 2019-06-18 | 上海振华重工(集团)股份有限公司 | Intelligent deceleration system and method |
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