CN207918293U - A kind of unmanned overhead traveling crane automatic control system - Google Patents
A kind of unmanned overhead traveling crane automatic control system Download PDFInfo
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- CN207918293U CN207918293U CN201820346402.0U CN201820346402U CN207918293U CN 207918293 U CN207918293 U CN 207918293U CN 201820346402 U CN201820346402 U CN 201820346402U CN 207918293 U CN207918293 U CN 207918293U
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- traveling crane
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Abstract
The utility model discloses a kind of unmanned overhead traveling crane automatic control systems, it includes vehicle-mounted crane controller and position detecting device, the position detecting device includes X-axis coded scale, Y-axis coded scale and absolute value encoder, cart track of the X-axis coded scale along overhead traveling crane side is fixed in workshop, and X-axis code reader corresponding with X-axis coded scale is fixed on the cart of overhead traveling crane；The Y-axis coded scale is mounted on along the trolley track of overhead traveling crane on the cart of overhead traveling crane, and Y-axis code reader corresponding with Y-axis coded scale is fixed on the trolley of overhead traveling crane；The absolute value encoder is mounted on the output shaft of overhead traveling crane hoisting motor；The signal output end of X-axis code reader, Y-axis code reader and absolute value encoder picks up load crane controller.The utility model crown block hook can be carried out quickly, be accurately positioned, enable that overhead traveling crane driver is accurate, efficient manipulation overhead traveling crane.The system is not only greatly improved the handling efficiency of cargo, but also functional reliability is high, it is ensured that overhead traveling crane safe operation.
Description
Technical field
The utility model is related to one kind capable of quickly, accurately measuring overhead traveling crane and lift hook position, assist overhead traveling crane driver accurate, high
The device of effect manipulation overhead traveling crane, belongs to technical field of crane equipment.
Background technology
Existing overhead traveling crane can only judge overhead traveling crane by overhead traveling crane driver generally all without automatic positioning function by estimating
And lift hook position, manually control overhead traveling crane walking.With the development of the times with science and technology progress, need of the industrial and mining enterprises to unmanned overhead traveling crane
Ask more and more urgent.Some overhead traveling cranes detect self-position using laser ranging technique, are automatically controlled with realizing, this requires pass
Cannot have any obstacle between sensor and reflector, but most of mineral environment is complicated, barrier is more, once sensor with it is anti-
It is blocked between tabula rasa, may result in detection data error, seriously affect the safe operation of overhead traveling crane.In addition, some enterprises
It is equipped with multi-section overhead traveling crane in one workshop, influences each other between overhead traveling crane, it is more unsuitable to use laser ranging.Therefore how to ensure nothing
The safe operation of man day vehicle just becomes the problem that related technical staff faces.
Utility model content
The purpose of this utility model is that for the drawback of the prior art, it is automatic to provide a kind of unmanned overhead traveling crane of high reliability
Control system, with realize unmanned overhead traveling crane it is quick, accurately control, ensure overhead traveling crane safe operation.
Problem described in the utility model is realized with following technical proposals：
A kind of unmanned overhead traveling crane automatic control system, composition include vehicle-mounted crane controller and position detecting device, described
Position detecting device includes X-axis coded scale, Y-axis coded scale and absolute value encoder, and the X-axis coded scale is along the big of overhead traveling crane side
Track road is fixed in workshop, and X-axis code reader corresponding with X-axis coded scale is fixed on the cart of overhead traveling crane；The Y-axis coding
Ruler is mounted on along the trolley track of overhead traveling crane on the cart of overhead traveling crane, and Y-axis code reader corresponding with Y-axis coded scale is fixed on overhead traveling crane
On trolley；The absolute value encoder is mounted on the output shaft of overhead traveling crane hoisting motor；X-axis code reader, Y-axis code reader and absolutely
The signal output end of value encoder picks up load crane controller.
Above-mentioned unmanned overhead traveling crane automatic control system, the vehicle-mounted crane controller include PLC, hoisting motor driving device,
Cargo motor driving device, vehicle motor driving device and coded scale interface module, the signal of X-axis code reader and Y-axis code reader
The different input terminals of output termination coded scale interface module, the input port of the output termination PLC of absolute value encoder, described
Lifting motor driving device, cargo motor driving device, vehicle motor driving device and coded scale interface module pass through PROFINT nets
Network is connected with PLC.
Above-mentioned unmanned overhead traveling crane automatic control system further includes control device of wireless in composition, the control device of wireless packet
Onboard wireless transceiver module and mobile control terminal are included, the onboard wireless transceiver module is connected by PROFINT networks and PLC
It connects, the mobile control terminal exchanges information by wireless network with onboard wireless transceiver module.
Above-mentioned unmanned overhead traveling crane automatic control system further includes ground monitoring device in composition, and the ground monitoring device is logical
It crosses wireless network and exchanges information with onboard wireless transceiver module.
Above-mentioned unmanned overhead traveling crane automatic control system, the hoisting motor driving device, cargo motor driving device and trolley
Motor driver is frequency converter.
The utility model measures the X-axis and Y axis coordinate of crown block hook using two coded scales respectively, utilizes absolute encoder
Device measures suspension hook Z axis coordinate, and measurement result is transmitted to vehicle-mounted crane controller, and the overhead traveling crane driver in crown block cab is made to exist
Any moment can obtain accurate lift hook position information, and accurately calculate suspension hook according to the position coordinates of cargo unloading point
With lateral distance, fore-and-aft distance and the vertical range between unloading point, the blindness of operation is avoided in this way.
The utility model crown block hook can be carried out quickly, be accurately positioned, enable that overhead traveling crane driver is accurate, efficient manipulation
Overhead traveling crane.The system is not only greatly improved the handling efficiency of cargo, but also functional reliability is high, it is ensured that overhead traveling crane safe operation.
Description of the drawings
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
Fig. 1 is the structural schematic diagram of unmanned overhead traveling crane automatic control system；
Fig. 2 is the structural schematic diagram of vehicle-mounted crane controller.
In figure respectively marked as：1, X-axis coded scale；2, cart track；3, trolley track；4, trolley；5, suspension hook；6, Y-axis is compiled
Yardstick；7, hoisting motor；8, absolute value encoder；9, Y-axis code reader；10, X-axis code reader；11, vehicle-mounted crane controller；12、
Cart.
Specific implementation mode
The utility model solves complex environment, the automatic positioning of multi-section overhead traveling crane and control problem, and positioning accuracy is reachable ±
0.4mm, overhead traveling crane is automatically from any position automatically walk to target location, securely and reliably.
The mentality of designing of the utility model is that shop material and equipment are positioned in three-dimensional space, each object
All there are one the 3 D stereo coordinates determined for material or equipment.Big truck position is X-coordinate, and small truck position is Y coordinate, and lift hook position is
Z coordinate.
Position detecting device：Cart trolley position detection uses linear absolute encoder ruler system, the system mainly to have：X
Axis code reader, Y-axis code reader, X-axis coded scale, Y-axis coded scale, absolute value encoder, coded scale interface module and installation attachment.
X-axis code reader and Y-axis code reader take short distance infrared emission mode to read the location information on coded scale, and calculate out position
Value, location information and diagnostic data warp knit yardstick interface module pass through in PROFINT network transmissions to PLC controller CPU.Linearly
Absolute position encoder ruler system is without Mechanical Contact, no abrasion, detects in real time, do not shaken, impacted substantially, dust, temperature fluctuation
Influence, reliability is high, easy to maintain, can be used for adverse circumstances operating mode.X-axis coded scale and Y are installed along large and small vehicle track laying
Axis coded scale, when installation, pay attention to keeping coded scale straight.Lift hook position is measured using absolute value encoder, with SSI data modes
The position module of incoming PLC.Absolute value encoder is mounted on motor shaft, and connection is reliable, firmly installs.
Its vehicle control：Including vehicle-mounted crane controller, control device of wireless and ground monitoring device, wherein vehicle-mounted day
Vehicle controller includes PLC, hoisting motor driving device（Frequency converter）, cargo motor driving device（Frequency converter）, vehicle motor drive
Dynamic device（Frequency converter）With coded scale interface module, control device of wireless includes that mobile control terminal and onboard wireless receive and dispatch mould
Block.Position data is stored with PLC, analyzing processing, information that treated is sent to ground monitoring by wireless network and fills
Set and move control terminal.Mobile control terminal as handheld terminal, real-time display overhead traveling crane location information, and have both remote controler and
Both industrial personal computers function.It is run with transducer drive cart trolley and suspension hook.
The course of work of the utility model is as follows：
1. establishing 3 D stereo coordinate system as reference axis using X-axis coded scale, Y-axis coded scale and vertical direction, workshop is determined
The coordinate of equipment and material.It plans overhead traveling crane walking path, target location is set in mobile control terminal.
2. transmitting data to PLC's with PROFINET to big trolley physical location real-time data acquisition using coded scale
CPU.Lift hook position information is detected by encoder, and PLC position modules TM is transferred to SSI data modes.
3. PLC is handled and is stored to position data.
4. using Siemens's wireless industrial W788 systems, the communication of ground monitoring device and vehicle-mounted crane controller is realized,
Position data real-time display in PLC in ground monitoring device.
5. PLC calculates cart trolley and suspension hook displacement distance, and give according to suspension hook physical location and target location value
Frequency converter sends out walking order, enforcing location closed-loop control.
For uniform enconding ruler positioning system used by the utility model without machine error, positioning accuracy is high, is suitble to industrial and mineral enterprise
Industry complex environment, high-temperature dust vibration will not all cause system harmful effect, the measurement of the big truck position of multi-section overhead traveling crane that can share
One coded scale, at low cost, reliability is high, each other without influence, securely and reliably；It is communicated using PROFINET, by location information
It is directly coupled in Industrial Ethernet, it can be with real-time display overhead traveling crane location information；It is real with Siemens's industrial wireless communication W788 systems
Existing ground and air communication；Using mobile control terminal as man-machine interface, mobile control terminal can have remote controler, industry control concurrently
Both machines function.It is convenient and simple intuitive convenient for manipulation.
Claims (5)
1. a kind of unmanned overhead traveling crane automatic control system, which is characterized in that composition includes vehicle-mounted crane controller（11）The position and
Detection device, the position detecting device include X-axis coded scale（1）, Y-axis coded scale（6）And absolute value encoder（8）, the X
Axis coded scale（1）Cart track along overhead traveling crane side（2）It is fixed in workshop, with X-axis coded scale（1）Corresponding X-axis reading code
Device（10）It is fixed on the cart of overhead traveling crane（12）On；The Y-axis coded scale（6）Along the trolley track of overhead traveling crane（3）Mounted on overhead traveling crane
Cart（12）On, with Y-axis coded scale（6）Corresponding Y-axis code reader（9）It is fixed on the trolley of overhead traveling crane（4）On；The absolute value
Encoder（8）Mounted on overhead traveling crane hoisting motor（7）Output shaft on；X-axis code reader（10）, Y-axis code reader（9）It is compiled with absolute value
Code device（8）Signal output end pick up load crane controller（11）.
2. unmanned overhead traveling crane automatic control system according to claim 1, which is characterized in that the vehicle-mounted crane controller
（11）Including PLC, hoisting motor driving device, cargo motor driving device, vehicle motor driving device and coded scale interface mould
Block, X-axis code reader（10）With Y-axis code reader（9）Signal output end connect the different input terminals of coded scale interface module, absolute value
Encoder（8）Output termination PLC input port, the hoisting motor driving device, cargo motor driving device, trolley electricity
Machine actuating device and coded scale interface module are connected by PROFINT networks with PLC.
3. unmanned overhead traveling crane automatic control system according to claim 2, which is characterized in that further include wireless control in composition
Device, the control device of wireless include onboard wireless transceiver module and mobile control terminal, the onboard wireless transceiver module
It is connect with PLC by PROFINT networks, the mobile control terminal exchanges letter by wireless network with onboard wireless transceiver module
Breath.
4. unmanned overhead traveling crane automatic control system according to claim 3, which is characterized in that further include ground monitoring in composition
Device, the ground monitoring device exchange information by wireless network with onboard wireless transceiver module.
5. unmanned overhead traveling crane automatic control system according to claim 4, which is characterized in that the hoisting motor driving dress
It sets, cargo motor driving device and vehicle motor driving device are frequency converter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820346402.0U CN207918293U (en) | 2018-03-14 | 2018-03-14 | A kind of unmanned overhead traveling crane automatic control system |
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| CN201820346402.0U CN207918293U (en) | 2018-03-14 | 2018-03-14 | A kind of unmanned overhead traveling crane automatic control system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110498343A (en) * | 2019-06-27 | 2019-11-26 | 六安远大住宅工业有限公司 | Intelligently lifting is put in storage control system and method to PC component |
| CN111182450A (en) * | 2020-01-13 | 2020-05-19 | 成都四相致新科技有限公司 | Driving positioning method, system, medium and equipment |
| CN111422747A (en) * | 2020-04-23 | 2020-07-17 | 芜湖新兴铸管有限责任公司 | Automatic control system of overhead travelling crane |
| CN113682965A (en) * | 2021-09-03 | 2021-11-23 | 浙江硕实机械有限公司 | Automatic safety control system and control method for crane operation |
| CN113830677A (en) * | 2021-10-20 | 2021-12-24 | 芜湖新兴铸管有限责任公司 | Traveling crane sling coordinate monitoring system |
| CN114890092A (en) * | 2022-05-12 | 2022-08-12 | 承德光大输送机有限公司 | Automatic stacking method |
| CN116969334A (en) * | 2023-09-14 | 2023-10-31 | 华侨大学 | Multi-crown block collaborative operation system |
-
2018
- 2018-03-14 CN CN201820346402.0U patent/CN207918293U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110498343A (en) * | 2019-06-27 | 2019-11-26 | 六安远大住宅工业有限公司 | Intelligently lifting is put in storage control system and method to PC component |
| CN110498343B (en) * | 2019-06-27 | 2020-11-27 | 六安远大住宅工业有限公司 | Intelligent hoisting and warehousing control system and method for PC (personal computer) component |
| CN111182450A (en) * | 2020-01-13 | 2020-05-19 | 成都四相致新科技有限公司 | Driving positioning method, system, medium and equipment |
| CN111182450B (en) * | 2020-01-13 | 2021-05-11 | 成都四相致新科技有限公司 | Driving positioning method, system, medium and equipment |
| CN111422747A (en) * | 2020-04-23 | 2020-07-17 | 芜湖新兴铸管有限责任公司 | Automatic control system of overhead travelling crane |
| CN113682965A (en) * | 2021-09-03 | 2021-11-23 | 浙江硕实机械有限公司 | Automatic safety control system and control method for crane operation |
| CN113830677A (en) * | 2021-10-20 | 2021-12-24 | 芜湖新兴铸管有限责任公司 | Traveling crane sling coordinate monitoring system |
| CN114890092A (en) * | 2022-05-12 | 2022-08-12 | 承德光大输送机有限公司 | Automatic stacking method |
| CN114890092B (en) * | 2022-05-12 | 2023-02-03 | 承德光大输送机有限公司 | Automatic stacking method |
| 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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