CN206014267U - A kind of three-dimensional coordinate alignment system for crane - Google Patents
A kind of three-dimensional coordinate alignment system for crane Download PDFInfo
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- CN206014267U CN206014267U CN201621026804.XU CN201621026804U CN206014267U CN 206014267 U CN206014267 U CN 206014267U CN 201621026804 U CN201621026804 U CN 201621026804U CN 206014267 U CN206014267 U CN 206014267U
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- dimensional coordinate
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Abstract
This utility model provides a kind of three-dimensional coordinate alignment system for crane, and system includes least one set encoder, programmable logic controller (PLC) and host computer；The first encoder, the second encoder being located on main winch and the 3rd encoder on auxiliary pulley that each group in least one set encoder is included with crane tower；First encoder is used for measuring tower body rotational angle in the horizontal plane, and second encoder is used for the luffing angle for measuring main arm of crane, and the 3rd encoder is used for the luffing angle for measuring auxiliary；Multiple encoders are communicated with programmable logic controller (PLC)；Programmable logic controller (PLC) is also communicated with host computer.Three-dimensional coordinate alignment system implementation for extra large work folding-jib crane of the present utility model is simple, data acquisition is carried out respectively by using three individual pen absolute value encoders, and the data obtained obtains arm exhibition three dimensional space coordinate by PLC after processing to tower body, principal arm and auxiliary.
Description
Technical field
A kind of three-dimensional coordinate alignment system of this utility model, more particularly to a kind of three-dimensional coordinate positioning system for crane
System.
Background technology
Extra large work folding-jib crane is a kind of very important hoisting machinery in ocean engineering machinery.Wherein, extra large work folding arm
The three-dimensional coordinate positioning of formula crane is the basis for realizing accurate compensation of undulation technology, and monitor in real time sea work folding-jib rises
The important parameter of heavy-duty machine operation conditions.By being accurately positioned to extra large work folding-jib crane three-dimensional coordinate, suspension hook can be obtained
Height and arm exhibition length, so as to pass through to calculate the current maximum load of work folding-jib crane of going to sea, to run shape
The monitor in real time of condition and diagnosis have important meaning.
Lack the three-dimensional coordinate alignment system for extra large work folding-jib crane in the prior art.
Utility model content
The purpose of this utility model is for the deficiencies in the prior art, there is provided a kind of for the three of extra large work folding-jib crane
Dimension coordinate alignment system.
Above-mentioned purpose of the present utility model is achieved through the following technical solutions：
A kind of three-dimensional coordinate alignment system for crane, system include least one set encoder, FPGA control
Device (PLC) processed and host computer, wherein：
The first encoder that each group in least one set encoder is included with crane tower, it is located on main winch
Second encoder and the 3rd encoder on auxiliary pulley；First encoder is used for measuring tower body in the horizontal plane
Rotational angle, second encoder are used for the luffing angle for measuring main arm of crane, and the 3rd encoder is used for the pitching for measuring auxiliary
Angle；
Multiple encoders are communicated with programmable logic controller (PLC)；
Programmable logic controller (PLC) is also communicated with host computer.
Further, encoder is absolute value encoder.
Further, absolute value encoder is individual pen absolute value encoder.
Further, absolute value encoder is the encoder based on Profibus-DP on-scene communication buses.
This utility model advantage is：
(1) implementation is simple, respectively tower body, principal arm and auxiliary is carried out by using three individual pen absolute value encoders
Data acquisition, the data obtained obtain arm exhibition three dimensional space coordinate by PLC after processing；
(2) precision is higher, and it is right that this utility model is set up using known structural parameters when crane three-dimensional coordinate is calculated
The mathematical model that answers, on the basis of the mathematical model for being adopted is built upon the distribution of symmetrical and uniform quality, and extra large work folding arm
Formula crane practical structures gap less, therefore has degree of precision；
(3) subsequently effect is big for the data obtained, and this utility model is operated interval three-dimensional and sits to extra large work folding-jib crane
Position is demarcated, good data can be provided for follow-up suspension hook location technology, compensation of undulation technology and be supported.
Description of the drawings
Fig. 1 is the knot of the three-dimensional coordinate alignment system for extra large work folding-jib crane of this utility model one embodiment
Structure schematic diagram；
Fig. 2 is the logical of the three-dimensional coordinate alignment system for extra large work folding-jib crane of this utility model one embodiment
Letter structural representation；
Fig. 3 is the tower body encoder detection angles schematic diagram of this utility model one embodiment；
Fig. 4 is the auxiliary luffing angle schematic diagram of this utility model one embodiment；And
Fig. 5 is the extra large work folding-jib crane structural model and principal arm and the auxiliary angle of pitch of this utility model one embodiment
Degree schematic diagram.
Specific embodiment
Extra large work folding-jib crane radius is larger, major-minor arm operating radius real-time change, and crane apex coordinate is also with work
Make situation real-time change.Crane load ability is directly related with gib arm of crane vertex position, and steel wire rope folding and unfolding length also with
Vertex position direct correlation, for being appropriately determined crane safety working range, monitoring steel wire rope folding and unfolding length needs to set up a set of
Extra large work folding-jib crane 3 D positioning system.
Fig. 1 schematically shows the major mechanical mechanism of extra large work folding-jib crane and this practicality being mounted thereon
The new three-dimensional coordinate alignment system for extra large work folding-jib crane.Wherein crane includes tower body 100, main winch 200
Above tower body, 300 one end of principal arm is pivotally mounted to the side of tower body, and the other end is connected with auxiliary 500, auxiliary
500 can pivoting around 300 end of principal arm.Auxiliary 500 is provided with connecting rod, connecting rod near the adjacent one end of principal arm 300
On auxiliary pulley 400 is installed.Steel wire rope is wound with main winch 200, and wirerope-winding is through auxiliary pulley 400, and passes through
Manner known in the art is connected to the load-bearing end of auxiliary 500.Extra large work folding-jib crane also includes driver's cabin 600.
In conjunction with Fig. 1 with reference to Fig. 2, the three-dimensional coordinate alignment system for extra large work folding-jib crane of the present utility model includes
Be located at tower body 100 on the first encoder (also referred to as tower body encoder) 110, be located at main winch 200 on second encoder (
Referred to as principal arm encoder) 210 and on auxiliary pulley 400 or at connection pivotal axis of the principal arm 300 with auxiliary 500
3rd encoder (also referred to as auxiliary encoder) 510.Three-dimensional coordinate for extra large work folding-jib crane of the present utility model is fixed
Position system also includes the programmable logic controller (PLC) (PLC) 610 in driver's cabin 600, and the PC host computers with plc communication
620.Each encoder is communicated by signal cable with PLC.Wherein the first encoder 110, second encoder 210 and
Preferably by individual pen absolute value encoder, which is passed through Profibus-DP on-scene communications bus and is controlled with PCL three encoders 510
Device communicates.
Fig. 3 schematically shows the rotational angle θ of the tower body measured by the first encoder 110.Wherein with tower body 100
Initial position be origin, the first encoder 110 according to rotation after position and initial position relativeness determining tower body
Actual rotation angle, θ.
With reference to Fig. 4, Fig. 4 schematically shows the structure ginseng of the extra large work folding-jib crane related to alignment system calculating
Number.Wherein tower body origin is illustrated with O, while plane residing for which is also 0 rice and flour for extra large work folding-jib crane.Tower body 100 with
The junction point of principal arm 300 represents that with P principal arm 300 is M with the junction point of auxiliary 500, and the load-bearing end of auxiliary 500 is N.Wherein tower
Height degree OP is h1, and principal arm length PM is L1, and auxiliary length MN is L2.300 peak of principal arm is relative to the horizontal plane for crossing P points
Vertical dimension is S1, and angulation is α, due to Fig. 4 in principal arm 300 and horizontal direction parallel, therefore, herein S1 be 0, α
For 0.The minimum point of auxiliary 500 is S2 with the vertical dimension of the horizontal plane for crossing P points, and the angle between principal arm 300 and auxiliary 500 is
β.In the figure, N points are the positioning on required two dimensional surface relative to the coordinate of O points.In the figure, extra large work folding-jib lifting
In not yet working condition (i.e. original state), principal arm 300 is horizontally oriented machine, and auxiliary 500 is closed up with principal arm 300,
Now α=0 °, β=β min.
Referring to Fig. 5, the figure shows extra large work folding-jib crane in running order when schematic diagram.In this model,
The value that angle [alpha] need to only be measured with β is obtained coordinate of the N points relative to O points.Wherein angle [alpha] is to be surveyed by second encoder 210
Principal arm 300 luffing angle, angle beta is equal to the auxiliarys that measured with the 3rd encoder 510 of initial angle β min of auxiliary and bowed
Angle [alpha] and the 3rd encoder that angle, θ that is elevation angle degree and measuring the first encoder 110, second encoder 210 are measured
By Profibus-DP on-scene communication bus transfers in PLC, PLC passes through ether to 510 angles for measuring again
Net is transferred data in PC host computers, the angle value that three encoders are measured by PC host computers using existing parameter and model
Bring calculating into, the final arm that obtains opens up three dimensional space coordinate.
This utility model utilizes absolute value encoder, numerical value of its corresponding determination on each position, therefore it
Output valve only relevant with initial position and final position, and unrelated with middle measurement process, even so measuring
There is the accidents such as power-off also to impact measurement result in journey.Additionally, encoder of the present utility model and PLC controls
Profibus-DP communication protocols, its strong antijamming capability, long transmission distance is adopted to make in multiple encoders concentration between device processed
Cost is significantly reduced with the case of.
While being described in detail to specific embodiment of the utility model, it has also been found that new with this practicality
The related in the art similar plurality of replaceable design of type and the embodiment being defined by the claims.
Claims (5)
1. a kind of three-dimensional coordinate alignment system for crane, it is characterised in that the system include least one set encoder,
Programmable logic controller (PLC) and host computer, wherein：
The first encoder that each group in the least one set encoder is included with crane tower, it is located on main winch
Second encoder and the 3rd encoder on auxiliary pulley；First encoder is used for measuring tower body in horizontal plane
Interior rotational angle, the second encoder are used for the luffing angle for measuring main arm of crane, and the 3rd encoder is used for surveying
The luffing angle of amount auxiliary；
The plurality of encoder is communicated with the programmable logic controller (PLC)；
The programmable logic controller (PLC) is also communicated with the host computer.
2. the three-dimensional coordinate alignment system for crane according to claim 1, it is characterised in that the encoder is
Absolute value encoder.
3. the three-dimensional coordinate alignment system for crane according to claim 2, it is characterised in that the absolute value is compiled
Code device is individual pen absolute value encoder.
4. the three-dimensional coordinate alignment system for crane according to claim 3, it is characterised in that the absolute value is compiled
Code device is the encoder based on Profibus-DP on-scene communication buses.
5. the three-dimensional coordinate alignment system for crane according to claim 1, it is characterised in that the crane is
Extra large work folding-jib crane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621026804.XU CN206014267U (en) | 2016-08-31 | 2016-08-31 | A kind of three-dimensional coordinate alignment system for crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621026804.XU CN206014267U (en) | 2016-08-31 | 2016-08-31 | A kind of three-dimensional coordinate alignment system for crane |
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| Publication Number | Publication Date |
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| CN206014267U true CN206014267U (en) | 2017-03-15 |
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| CN201621026804.XU Active CN206014267U (en) | 2016-08-31 | 2016-08-31 | A kind of three-dimensional coordinate alignment system for crane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106115492A (en) * | 2016-08-31 | 2016-11-16 | 润邦卡哥特科工业有限公司 | A kind of three-dimensional coordinate alignment system for crane |
| CN109396086A (en) * | 2018-11-27 | 2019-03-01 | 长安大学 | A kind of full-automatic multiple degrees of freedom street lamp cleaning device and its control method |
-
2016
- 2016-08-31 CN CN201621026804.XU patent/CN206014267U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106115492A (en) * | 2016-08-31 | 2016-11-16 | 润邦卡哥特科工业有限公司 | A kind of three-dimensional coordinate alignment system for crane |
| CN109396086A (en) * | 2018-11-27 | 2019-03-01 | 长安大学 | A kind of full-automatic multiple degrees of freedom street lamp cleaning device and its control method |
| CN109396086B (en) * | 2018-11-27 | 2023-10-31 | 长安大学 | Full-automatic multi-degree-of-freedom street lamp cleaning device and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200605 Address after: 55 Russ air rail, Tampere, Finland Patentee after: Cargotec Finland Address before: 215427, Jiangsu port economic and Technological Development Zone, Suzhou City, Taicang Province Patentee before: RAINBOW-CARGOTEC INDUSTRIES Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200826 Address after: 55 Russ air rail, Tampere, Finland Patentee after: Cargotec Finland Address before: Dangxikou, port area, Taicang Economic and Technological Development Zone, Taicang City, Suzhou City, Jiangsu Province Patentee before: RAINBOW-CARGOTEC INDUSTRIES Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220922 Address after: Dangqiankou, Port Area, Taicang Port Economic and Technological Development Zone, Suzhou City, Jiangsu Province Patentee after: Jiangsu Runbang Industrial Equipment Co.,Ltd. Address before: 55 Russ air rail, Tampere, Finland Patentee before: Cargotec Finland |