CN206126690U - Bulk cargo grab bucket overhead traveling crane automatic control device - Google Patents
Bulk cargo grab bucket overhead traveling crane automatic control device Download PDFInfo
- Publication number
- CN206126690U CN206126690U CN201621164369.7U CN201621164369U CN206126690U CN 206126690 U CN206126690 U CN 206126690U CN 201621164369 U CN201621164369 U CN 201621164369U CN 206126690 U CN206126690 U CN 206126690U
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- traveling crane
- overhead traveling
- grab bucket
- cart
- dolly
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- 239000010959 steel Substances 0.000 claims abstract description 9
- 230000005693 optoelectronics Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 241000219739 Lens Species 0.000 claims 1
- 210000000695 crystalline len Anatomy 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 3
- 238000011897 real-time detection Methods 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000009865 steel metallurgy Methods 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
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- Control And Safety Of Cranes (AREA)
Abstract
The utility model provides a bulk cargo grab bucket overhead traveling crane automatic control device, belongs to overhead traveling crane controlling means technical field for carry out automatic control to bulk cargo grab bucket overhead traveling crane. Its technical scheme is: the material pile position is taken the photograph camera and is installed at the runway girder lateral wall, camera lens perpendicular to the ground, cart laser rangefinder sensor, dolly laser rangefinder sensor is installed on the overhead traveling crane girder, measure the travel distance of overhead traveling crane cart and overhead traveling crane dolly respectively, obtain the coordinate of overhead traveling crane cart and overhead traveling crane dolly, grab bucket absolute value photoelectric encoder installs on overhead traveling crane vehicle bodywork grab bucket steel wire rope drum main shaft, measure the height of grab bucket, programmable controller controls the overhead traveling crane cart according to real -time detection's material pile and overhead traveling crane positional information control converter, the overhead traveling crane dolly, mechanisms such as grab bucket, it snatchs and loading and unloading to accomplish the position location of bulk cargo. The utility model discloses the structure is reliable, and non -maintaining nature is good, convenient operation, and the reliability is high, and someone operates the overhead traveling crane fungible, has alleviateed operating personnel's intensity of labour, has improved overhead traveling crane operation rate.
Description
Technical field
This utility model is related to the device that a kind of overhead traveling crane of grabbing bucket to bulk cargo is automatically controlled, and belongs to control device of crown block skill
Art field.
Background technology
Overhead traveling crane is iron and steel metallurgy enterprise widely used device, and wherein bulk cargo grab bucket overhead traveling crane is used to carry out crawl work to bulk cargo
Industry, is equipment indispensable in production.At present, iron and steel metallurgy industry or other industry are used for the grab bucket overhead traveling crane of bulk cargo crawl
Control technology mainly takes artificial operator scheme, or manual remote control operator scheme, there is craneman's high labor intensive, is in
The problems such as work under bad environment such as dust environment, it is unfavorable for development and the protection worker health for producing, therefore is extremely necessary out
Send out automaton a kind of to substitute artificial operation, to reduce labor intensity, improve craneman's work situation.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of bulk cargo grab bucket travelling overhead crane automatic control device, this control
Device processed can be determined to bulk cargo stockpile position, while can determine the position of overhead traveling crane itself, drive overhead traveling crane walking to go forward side by side
The crawl operation of row grab bucket.
Solving the technical scheme of above-mentioned technical problem is：
A kind of bulk cargo is grabbed bucket travelling overhead crane automatic control device, it include stockpile position video camera, cart laser range sensor,
Dolly laser range sensor, grab bucket absolute value optoelectronic encoding device, cart converter, dolly converter, grab bucket lifting converter,
Programmable controller, host computer, stockpile position video camera is arranged on runway girder lateral wall, the shooting of stockpile position video camera
Camera lens is connected perpendicular to ground, the image transmission cable of stockpile position video camera with the host computer of Central Control Room, cart Laser Measuring
It is arranged on main beam of overhead travelling crane away from sensor, the laser ranging direction of cart laser range sensor and the direction of travel of overhead traveling crane cart
It is corresponding, dolly laser range sensor be arranged on main beam of overhead travelling crane on, the laser ranging direction of dolly laser range sensor with
Crown block trolley direction of travel is corresponding, and grab bucket absolute value optoelectronic encoding device is arranged on crown block trolley car body steel wire rope of grab bucket cylinder master
On axle, cart laser range sensor, dolly laser range sensor, the output signal cable of grab bucket absolute value optoelectronic encoding device
It is connected with programmable controller, cargo motor, vehicle motor, grab bucket lifting motor become respectively with cart converter, dolly
Frequency device, grab bucket lifting converter are connected, and these converters are connected respectively with programmable controller, programmable controller
It is connected with host computer.
Above-mentioned bulk cargo grab bucket travelling overhead crane automatic control device, the overhead traveling crane cart girder is relative to cart laser range sensor
Distal end reflector is installed, reflector is relative with the Laser emission end of cart laser range sensor.
Above-mentioned bulk cargo is grabbed bucket travelling overhead crane automatic control device, the crown block trolley it is relative with dolly laser range sensor one
Side is provided with reflector, and reflector is relative with the laser transmitting terminal of dolly laser range sensor.
Above-mentioned bulk cargo grab bucket travelling overhead crane automatic control device, encoder axle and the grab bucket of the grab bucket absolute value optoelectronic encoding device
Lifting wire rope drum spindle is connected, encoder axle with grab bucket lifting wire rope drum spindle synchronous axial system, by record arteries and veins
Rush number to calculate the height of steel wire rope rising or decline to obtain the Height position co-ordinate of grab bucket.
The beneficial effects of the utility model are：
Stockpile position of the present utility model video camera can complete the image photographic to bulk cargo stockpile, and image transmitting is to upper
Machine, for monitoring stockpile shape；Cart laser range sensor and dolly laser range sensor carry out respectively laser ranging, lead to
Cross and overhead traveling crane cart and crown block trolley position coordinateses are drawn after calculating, grab bucket absolute value optoelectronic encoding device is calculated by recording impulse number
Steel wire rope rises or the height that declines is obtaining the Height position co-ordinate of grab bucket；Programmable controller is according to real-time detection
Overhead traveling crane positional information control converter manipulation overhead traveling crane cart, crown block trolley, the mechanism such as grab bucket, the location positioning for completing bulk cargo grabs
Take and loading and unloading, while realizing the safety interlocking in day workshop.This utility model structure reliability, non-maintaining property is good, easy to operate, can
High, alternative someone's operation crown block by property, mitigates the labor intensity of operator, and overhead traveling crane operating rate improves a lot, has popularization to make
With value.
Description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is electric theory diagram of the present utility model.
Labelling is as follows in figure：Overhead traveling crane cart 1, crown block trolley 2, grab bucket 3, stockpile position video camera 4, cart laser ranging are passed
Sensor 5, dolly laser range sensor 6, grab bucket absolute value optoelectronic encoding device 7, cart converter 8, dolly converter 9, grab bucket
Lifting converter 10, programmable controller 11, switch 12, host computer 13, reflector 14.
Specific embodiment
This utility model by stockpile position video camera 4, cart laser range sensor 5, dolly laser range sensor 6,
Grab bucket absolute value optoelectronic encoding device 7, cart converter 8, dolly converter 9, grab bucket lifting converter 10, programmable controller
11st, switch 12, host computer 13, reflector 14 are constituted.
Show in figure, stockpile position video camera 4 is arranged on runway girder lateral wall, the camera lens of stockpile position video camera 4
Perpendicular to ground, the image transmission cable of stockpile position video camera 4 is connected head with the host computer 13 of Central Control Room.It is installed on overhead traveling crane
The stockpile position video camera 4 of side bottom shoots the image document of the bulk material pile below overhead traveling crane, by network transmission to upper
Machine 13, is stored and is shown.
In figure show, cart laser range sensor 5 be arranged on main beam of overhead travelling crane on, cart laser range sensor 5 swash
Ligh-ranging direction is corresponding with the direction of travel of overhead traveling crane cart 1, and the girder of overhead traveling crane cart 1 is relative to cart laser range sensor 5
Distal end reflector 14 is installed, reflector 14 is relative with the Laser emission end of cart laser range sensor 5.Cart Laser Measuring
Output signal cable away from sensor 5 is connected with programmable controller 11.During work, cart laser range sensor 5 is not
Launch laser disconnectedly, by the laser signal of the reflector 14 of distal end reflection transmitting, calculate overhead traveling crane cart 1 and reflector 14 away from
From by network connection to programmable controller 11, signal draws the position coordinateses of overhead traveling crane cart 1 after calculating.
In figure show, dolly laser range sensor 6 be arranged on main beam of overhead travelling crane on, dolly laser range sensor 6 swash
Ligh-ranging direction is corresponding with the direction of travel of crown block trolley 2, the side relative with dolly laser range sensor 6 of crown block trolley 2
Reflector 14 is installed, reflector 14 is relative with the laser transmitting terminal of dolly laser range sensor 6.Dolly laser ranging is sensed
The output signal cable of device 6 is connected with programmable controller 11.During work, dolly laser range sensor 6 is constantly sent out
Laser is penetrated, the laser signal of transmitting is received by the reflector 14 at the edge of crown block trolley 2, calculate crown block trolley 2 and reflector 14
Distance, by network connection to programmable controller 11, signal draws the position coordinateses of crown block trolley 2 after calculating.
Show in figure, grab bucket absolute value optoelectronic encoding device 7 is arranged on trolley steel wire rope of grab bucket drum spindle, grab bucket
The output signal cable of absolute value optoelectronic encoding device 7 is connected with programmable controller 11.Grab bucket absolute value optoelectronic encoding device 7
Encoder axle with grab bucket lifting wire rope drum spindle be connected, encoder axle with grab bucket lifting wire rope drum spindle it is synchronous
Rotate, calculate the height of steel wire rope rising or decline to obtain the Height position co-ordinate of grab bucket by recording impulse number, calculate
Formula is：
Each pulse correspondence steel wire rope of grab bucket rises（Decline）Height be：
P=Pi*r/512。
Wherein：Coder parameters are 1024ppr.
R:Steel wire rope of grab bucket radius roller.
Pi:Pi.
In figure show, cargo motor, vehicle motor, grab bucket lifting motor respectively with cart converter 8, dolly converter 9,
Grab bucket lifting converter 10 is connected, and these converters are connected respectively with programmable controller 11, programmable controller
11 are connected with host computer 13.Programmable controller 11 according to the overhead traveling crane positional information of real-time detection by cart converter 8,
Dolly converter 9, grab bucket lifting converter 10 manipulates respectively overhead traveling crane cart 1, crown block trolley 3, grab bucket and 3 moved, and complete to dissipate
The location positioning crawl of material and loading and unloading.
One embodiment of the present utility model is adopted with lower component：
The model HIKVISION DS-2CD48C5F-IZHS of stockpile position video camera 4, communication modes are Ethernet
TCP/IP, RJ45 are with outer long leg decorative frame in DS-1293ZJ rooms；
The model SENSONPART FR90 ILA- of cart laser range sensor 5, dolly laser range sensor 6
S2Q12, with Q12-30M-G-PVC cables, RL540 reflectors, AS S7/B1 D9F-D9F ProfibusDP network interface groups
Part；
The model P+F PVM58N-011AGR0BN-1213 of grab bucket absolute value optoelectronic encoding device 7, with installation adnexa；
Model EV3000-4T0220G of cart converter 8, distribution network component TDS-PA01；
Model EV3000-4T0110G of dolly converter 9, distribution network component TDS-PA01；
Model EV3000-4T1100G of grab bucket lifting converter 10, distribution network component TDS-PA01；
Programmable controller（PLC）11 segment template model：
Guide rail：6ES7 390-1AF30-0AA0
Power supply：6ES7 307-1EA01-0AA0
CPU:6ES7 315-2AH14-0AB0
Network interface card：6GK7 343-1EX30-0XE0
SM templates：6ES7 321-1BH02-0AA0
6ES7 322-1BH01-0AA
Host computer 13 is that model grinds magnificent IPC-610H；
The model SIEMENS 6GK5 204-1BB10-2AA3 of Ethernet switch 12.
Claims (4)
1. a kind of bulk cargo is grabbed bucket travelling overhead crane automatic control device, it is characterised in that：It includes stockpile position video camera（4）, cart swash
Ligh-ranging sensor（5）, dolly laser range sensor（6）, grab bucket absolute value optoelectronic encoding device（7）, cart converter（8）、
Dolly converter（9）, grab bucket lifting converter（10）, programmable controller（11）, host computer（13）, stockpile position video camera
（4）Installed in runway girder lateral wall, stockpile position video camera（4）Pick-up lenss perpendicular to ground, stockpile position video camera
（4）Image transmission cable and Central Control Room host computer（13）It is connected, cart laser range sensor（5）Installed in day car owner
Liang Shang, cart laser range sensor（5）Range finding direction and overhead traveling crane cart（1）Direction of travel it is corresponding, dolly Laser Measuring
Away from sensor（6）On main beam of overhead travelling crane, dolly laser range sensor（6）Range finding direction and crown block trolley（2）Walking
Direction is corresponding, absolute value optoelectronic encoding device of grabbing bucket（7）Installed in crown block trolley（2）On car body steel wire rope of grab bucket drum spindle,
Cart laser range sensor（5）, dolly laser range sensor（6）, grab bucket absolute value optoelectronic encoding device（7）Output signal
Cable and programmable controller（11）Be connected, cargo motor, vehicle motor, grab bucket lifting motor respectively with cart converter
（8）, dolly converter（9）, grab bucket lifting converter（10）Be connected, these converters respectively with programmable controller（11）
It is connected, programmable controller（11）With host computer（13）It is connected.
2. bulk cargo according to claim 1 is grabbed bucket travelling overhead crane automatic control device, it is characterised in that：The overhead traveling crane cart girder
Relative to cart laser range sensor（5）Distal end reflector is installed（14）, reflector（14）Pass with cart laser ranging
Sensor（5）Laser emission end it is relative.
3. bulk cargo according to claim 2 is grabbed bucket travelling overhead crane automatic control device, it is characterised in that：The crown block trolley（2）
With dolly laser range sensor（6）Relative side is provided with reflector（14）, reflector（14）Pass with dolly laser ranging
Sensor（6）Laser transmitting terminal it is relative.
4. bulk cargo according to claim 3 is grabbed bucket travelling overhead crane automatic control device, it is characterised in that：The grab bucket absolute value light
Photoelectric coder（7）Encoder axle with grab bucket lifting wire rope drum spindle be connected, encoder axle with grab bucket lifting wire rope
Drum spindle synchronous axial system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621164369.7U CN206126690U (en) | 2016-10-25 | 2016-10-25 | Bulk cargo grab bucket overhead traveling crane automatic control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621164369.7U CN206126690U (en) | 2016-10-25 | 2016-10-25 | Bulk cargo grab bucket overhead traveling crane automatic control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206126690U true CN206126690U (en) | 2017-04-26 |
Family
ID=58576213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621164369.7U Expired - Fee Related CN206126690U (en) | 2016-10-25 | 2016-10-25 | Bulk cargo grab bucket overhead traveling crane automatic control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206126690U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107316302A (en) * | 2017-07-26 | 2017-11-03 | 苏州嘉斯度智能装备有限公司 | Driving automatic positioning equipment and its corresponding localization method based on binocular vision |
| CN108945925A (en) * | 2018-07-02 | 2018-12-07 | 聊城信源集团有限公司 | A kind of aluminium alloy round cast ingot intelligence storing and transporting system |
| CN109019347A (en) * | 2018-10-18 | 2018-12-18 | 东北大学 | A kind of bridge crane automatic control system |
| CN110228755A (en) * | 2019-07-10 | 2019-09-13 | 联峰钢铁（张家港）有限公司 | A kind of unmanned grab-crane wirerope deviation correcting device |
| CN111153326A (en) * | 2018-11-07 | 2020-05-15 | 中国钢铁股份有限公司 | Crown block swing prevention and positioning control system and acceleration and deceleration curve calculation method thereof |
| CN111747305A (en) * | 2020-06-19 | 2020-10-09 | 迅控(河南)自动化科技有限公司 | Full-automatic coke stacking method for delayed coking and grab bucket traveling system |
| CN111807229A (en) * | 2020-06-15 | 2020-10-23 | 河钢股份有限公司承德分公司 | Device and method for corresponding actual position of unmanned overhead travelling crane to absolute position of saddle |
| CN112908191A (en) * | 2019-12-04 | 2021-06-04 | 深圳蓝普科技有限公司 | Automatic maintenance system for positioning device and splicing display device |
| CN116969334A (en) * | 2023-09-14 | 2023-10-31 | 华侨大学 | Multi-crown block collaborative operation system |
-
2016
- 2016-10-25 CN CN201621164369.7U patent/CN206126690U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107316302A (en) * | 2017-07-26 | 2017-11-03 | 苏州嘉斯度智能装备有限公司 | Driving automatic positioning equipment and its corresponding localization method based on binocular vision |
| CN108945925A (en) * | 2018-07-02 | 2018-12-07 | 聊城信源集团有限公司 | A kind of aluminium alloy round cast ingot intelligence storing and transporting system |
| CN108945925B (en) * | 2018-07-02 | 2024-03-15 | 聊城信源集团有限公司 | Intelligent storage and transportation system for aluminum alloy round ingot casting |
| CN109019347A (en) * | 2018-10-18 | 2018-12-18 | 东北大学 | A kind of bridge crane automatic control system |
| CN111153326A (en) * | 2018-11-07 | 2020-05-15 | 中国钢铁股份有限公司 | Crown block swing prevention and positioning control system and acceleration and deceleration curve calculation method thereof |
| CN110228755A (en) * | 2019-07-10 | 2019-09-13 | 联峰钢铁（张家港）有限公司 | A kind of unmanned grab-crane wirerope deviation correcting device |
| CN110228755B (en) * | 2019-07-10 | 2024-02-09 | 联峰钢铁（张家港）有限公司 | Unmanned grab crane steel wire rope deviation correcting device |
| CN112908191A (en) * | 2019-12-04 | 2021-06-04 | 深圳蓝普科技有限公司 | Automatic maintenance system for positioning device and splicing display device |
| CN111807229A (en) * | 2020-06-15 | 2020-10-23 | 河钢股份有限公司承德分公司 | Device and method for corresponding actual position of unmanned overhead travelling crane to absolute position of saddle |
| CN111747305A (en) * | 2020-06-19 | 2020-10-09 | 迅控(河南)自动化科技有限公司 | Full-automatic coke stacking method for delayed coking and grab bucket traveling system |
| CN116969334A (en) * | 2023-09-14 | 2023-10-31 | 华侨大学 | Multi-crown block collaborative operation system |
| CN116969334B (en) * | 2023-09-14 | 2023-12-22 | 华侨大学 | Multi-crown block collaborative operation system |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: No. 1 Jianhua Road, North District of Tangshan City Road, Hebei Province, Hebei Patentee after: TANGSTEEL INTERNATIONAL ENGINEERING TECHNOLOGY Co.,Ltd. Address before: No. 1 Jianhua Road, North District of Tangshan City Road, Hebei Province, Hebei Patentee before: TANGSHAN IRON AND STEEL INTERNATIONAL ENGINEERING TECHNOLOGY CO.,LTD. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170426 |