CN208561480U - Global function trolley electric control system based on trolley - Google Patents
Global function trolley electric control system based on trolley Download PDFInfo
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- CN208561480U CN208561480U CN201821234366.5U CN201821234366U CN208561480U CN 208561480 U CN208561480 U CN 208561480U CN 201821234366 U CN201821234366 U CN 201821234366U CN 208561480 U CN208561480 U CN 208561480U
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- auxiliary
- drum
- trolley
- spreader body
- frequency converter
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- 230000007246 mechanism Effects 0.000 claims abstract description 83
- 238000010010 raising Methods 0.000 claims abstract description 28
- 238000004804 winding Methods 0.000 claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000035772 mutation Effects 0.000 description 2
- 230000009125 negative feedback regulation Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000036461 convulsion Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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- Control And Safety Of Cranes (AREA)
Abstract
The global function trolley electric control system based on trolley that the utility model discloses a kind of, it include: spreader body, further includes: a pair of 4 sets of three-in-one auxiliary for being symmetrically disposed on the winding drum lifting mechanism above two ends of spreader body, being respectively arranged on above four angles of spreader body are anti-to shake drum mechanism built and for controlling winding drum lifting mechanism, 4 sets of three-in-one anti-electrical control mechanisms for shaking drum mechanism built of auxiliary；The hoisting drum mechanism, it include: raising line and main drum, the three-in-one drum mechanism built of 4 sets of auxiliary, it include: auxiliary rope, auxiliary drum, the three-in-one mechanism of auxiliary, the electrical control mechanism, comprising: rectification unit, brake unit, lifting mechanism frequency converter, the three-in-one mechanism frequency converter of auxiliary, main PLC and driver control unit.The utility model realizes that the double raisings of crane run simultaneously function, and improves crane hanger and prevent shaking performance indicator.
Description
Technical field
The utility model relates to cranes, electrical more specifically to a kind of global function trolley based on trolley
Control system applied on the crane for hanging load in tyre crane, track crane and various assembly trolleys.
Background technique
Currently, the crane products of each producer pass through respective distinctive technological means in the world, realize to suspender function
Include: suspender plane rotation, suspender or so vert, the portion of suspender anterior-posterior translation and suspender or so translation these multinomial suspenders operations
Divide or all controls.Simultaneously, it is necessary to make great efforts raising the anti-of suspender and shake performance indicator, to facilitate driver operation.
When crane is in transport operation, large and small vehicle operation can generate starting and braking acceleration, send out the cargo under suspension point
Life is rocked, and driver can not carry out picking, unloading work immediately, thus lengthen dust cycle, production efficiency decline.But
It is that at present in this respect, domestic manufacturer there is no the method all realized that can be achieved to above-mentioned suspender operating function, while suspender
Prevent that shaking performance indicator is also unable to get further promotion.
Utility model content
In view of the above defects of the prior art, the purpose of the utility model is to provide a kind of based on trolley
Global function trolley electric control system realizes that the double raisings of crane run simultaneously function, and improves crane hanger and prevent shaking performance
Index.
To achieve the above objectives, the present invention adopts the following technical solutions:
A kind of global function trolley electric control system based on trolley, comprising: spreader body, further includes: a pair of right
The winding drum lifting mechanism being set to above two ends of spreader body, 4 sets of three-in-one auxiliary is claimed to prevent shaking drum mechanism built and being used for
Control winding drum lifting mechanism, the three-in-one auxiliary of 4 sets be respectively arranged on above four angles of spreader body prevent shaking the automatically controlled of drum mechanism built
Mechanism；
The hoisting drum mechanism includes: raising line and main drum, and main drum is located at the top of spreader body end,
Raising line is wound on main drum, and is connected again with spreader body；
The three-in-one drum mechanism built of 4 sets of auxiliary includes: auxiliary rope, auxiliary drum, the three-in-one mechanism of auxiliary, auxiliary
Reel is located at the top at four angles of spreader body, and auxiliary rope is also wound on main drum, and is connected again with auxiliary drum, auxiliary three
Unification mechanism is also connected on auxiliary drum, to drive auxiliary drum；
The electrical control mechanism, comprising: rectification unit, brake unit, lifting mechanism frequency converter, the three-in-one mechanism frequency conversion of auxiliary
Device, main PLC and driver control unit, lifting mechanism frequency converter are connected with the motor on corresponding main drum, assist three-in one machine
Structure frequency converter is connected with the motor on corresponding auxiliary three-in one machine structure, and rectification unit is to lifting mechanism frequency converter and auxiliary three
Unify mechanism inverter supply, main PLC passes calculated result to calculate double raising synchronized algorithms and prevent shaking control algolithm
It send to driver control unit, by driver control unit real-time control lifting mechanism frequency converter and assists three-in-one mechanism frequency conversion
Device drives corresponding motor.
The three-in-one mechanism of the auxiliary is three-in-one decelerating motor.
The auxiliary rope is also wound on main drum, and the other end of auxiliary rope is around on the auxiliary pulley of spreader body,
It is fixedly connected again with auxiliary drum.
The raising line is wound on main drum, and the other end of raising line is around on the pulley of spreader body, then is passed through
Rope fixing end is mutually fixed.
In the above technical solution, a kind of global function trolley based on trolley provided by the utility model is electrical
Control system, also have the following the utility model has the advantages that
1) the synchronous electric control system of the double raisings of the utility model crane passes through two sets of independent winding drum lifting mechanisms, four
The aggregate motion for covering auxiliary drum, hangs load stability when can be obviously improved crane job；
2) the utility model crane auxiliary prevents that shaking electric control system can effectively reduce to the intervention in advance for carrying and rocking is hung
The initial amplitude of oscillation of load is hung, and effectively cuts down the amplitude of oscillation for hanging load within the short time after trolley is out of service.
Detailed description of the invention
Fig. 1 is the hoisting drum mechanism of the utility model crane global function trolley electric control system and assists three-in-one
The arrangement schematic diagram of drum mechanism built；
Fig. 2 is the structural schematic diagram of the electrical control mechanism of the utility model crane global function trolley electric control system.
Specific embodiment
The technical solution of the utility model is further illustrated with reference to the accompanying drawings and examples.
Incorporated by reference to shown in Fig. 1 to Fig. 2, a kind of global function trolley based on trolley provided by the utility model is electrical
Control system, comprising: spreader body 1, further includes: a pair is symmetrically disposed on the reel raising above 1 two ends of spreader body
The three-in-one auxiliary of mechanism, 4 sets be respectively arranged on above 1 four angles of spreader body is anti-to shake drum mechanism built and rises for controlling reel
Rise mechanism, 4 sets of three-in-one anti-electrical control mechanisms for shaking drum mechanism built of auxiliary.
Preferably, the hoisting drum mechanism, includes: raising line 2 and main drum 4, main drum 4 is located at spreader body 1
The top of end, raising line 2 are wrapped on main drum 4, after the other end of raising line 2 is wound on the pulley 11 of spreader body 1, then
By restricting, 7 phase of fixing end is fixed.
It include: that auxiliary rope 3, auxiliary drum 5, auxiliary are three-in-one preferably, the three-in-one drum mechanism built of 4 sets of auxiliary
Mechanism 6, auxiliary drum 5 are located at the top at four angles of spreader body, and auxiliary rope 3 is also wrapped on main drum 4, auxiliary rope 3 it is another
It after one end is wound on the auxiliary pulley 12 of spreader body 1, then is fixedly connected with auxiliary drum 5, is connected on each auxiliary drum 5
Three-in-one mechanism 6 is assisted, assists three-in-one mechanism 6 to drive auxiliary drum 5.
Preferably, the three-in-one mechanism 6 of the auxiliary selects three-in-one decelerating motor.
Preferably, the anterior-posterior translation of 1 horizontal plane of spreader body, left and right translation and left and right revolution are all by four auxiliary three
Unify the independent rope closing of mechanism 6 and puts rope to realize；The left and right of spreader body 1, which is verted, to be risen by one of two main drums 4, is another
One decline is to realize；Double raising synchronizing functions are realized by the velocity variations adjustment of two main drums 4；Spreader body 1
Rocking-prevention function is realized by the pulling force for assisting the output torque of three-in-one mechanism 6 to be converted in auxiliary rope 3.
Preferably, the electrical control mechanism, comprising: rectification unit 20, brake unit 21, lifting mechanism frequency converter 22, auxiliary
On three-in-one mechanism frequency converter 23, main PLC24 and driver control unit 25, lifting mechanism frequency converter 22 and corresponding main drum 4
Motor be connected, assist three-in-one mechanism frequency converter 23 with accordingly assist three-in one machine structure 6 on motor be connected.Crane operation
Afterwards, ac power power supply is converted to DC power supply via rectification unit 20, supplies electricity to lifting mechanism frequency converter by DC master row
22 pass through double raising synchronized algorithms and prevent shaking control algolithm, will calculate with the three-in-one mechanism frequency converter 23 of auxiliary, main PLC24
Speed preset and torque reference be sent to driver control unit 25, then via 25 real-time control raising of driver control unit
Mechanism frequency converter 22 and the three-in-one mechanism frequency converter 23 of auxiliary drive corresponding motor, to realize that the double of spreader body 1 rise
Rise synchronous and rocking-prevention function.
Preferably, the synchronous electric control system of double raisings of the utility model crane global function trolley is risen using two-fold cylinder
Mechanism, electrical control mechanism two lifting mechanism frequency converters 22 of corresponding configuration are risen, and is aided with absolute position encoder and calculates independent position.
During double raising synchronous operations, main PLC24 is compared by the position to two main drums 4, same by double raisings of main PLC24
Step algorithm adjusts the speed preset of motor on two main drums 4 in real time.
Preferably, double raising synchronized algorithms are as follows: calculate the position on double winding drum lifting mechanisms between two main drums
Set difference, be arranged according to the acceleration of project configuration, speed setting and kp value, negative-feedback regu- lation curve at calculating, for speed into
Row is reconciled, and kp value refers to the proportional control factor in PID control.
Preferably, negative-feedback regu- lation curve is the key that be adjusted in synchronism, which shows general shape and is divided into two sections, and first segment is
Linearly, second segment is that y^2=2px poincare half plane is parabola shaped.Linearly with it is smooth at parabola shaped connecting points, speed is without mutation；
First derivative is continuous, no acceleration impact；Second dervative has mutation, and it is tolerance interval that jerk, which is -4 Δs (Δ/a) ^0.5,.Line
Property part slope and parabola branch " precipitous " degree with kp value increase and increases, illustrate kp it is bigger accordingly it is faster.By
This calculates in real time and constantly regulate two sides lifting mechanism speed preset, realizes double raising synchronizing functions.
Preferably, the anti-electric control system of shaking of the auxiliary of the utility model crane global function trolley is prevented using four sets of auxiliary
Swing mechanism, four three-in-one mechanism frequency converters 23 of auxiliary of the corresponding configuration of electrical control mechanism shake programmed algorithm by the way that main PLC24 is anti-, solely
The torque value output valve of motor on four auxiliary drums 5 of vertical control.Auxiliary rope is controlled using the variable output function of auxiliary drum 5
3 value of thrust is compensated to the position deviation for being loaded in trolley acceleration and decelerating phase generation is hung, rather than just traditional method
After only stopping to trolley, hangs persistently rocking for load and weakened.
Anti- control algolithm is shaken preferably, described are as follows: is acquired load weight in real time, is hung load height, and combines auxiliary drum
The data such as the arrangement of mechanism position dimension of the data such as actual speed and actual torque feedback, project, are based on proportion adjustment+ratio
Differential adjusts automatic control algorithm, adjusts the output torque for assisting three-in-one mechanism in real time.
In conclusion the utility model crane global function trolley electric control system is to suspender operating function and anti-shaking property
The raising of energy will greatly shorten operating time of hoister when to casing working and substantially reduce operation difficulty, realizes behaviour
Make being substantially improved for precision and operating efficiency.
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate that this is practical new
Type, and be not used as the restriction to the utility model, as long as in the spirit of the utility model, to the above
Variation, the modification of embodiment will all be fallen in the Claims scope of the utility model.
Claims (4)
1. a kind of global function trolley electric control system based on trolley, comprising: spreader body, which is characterized in that also wrap
Include: a pair is symmetrically disposed on the winding drum lifting mechanism above two ends of spreader body, is respectively arranged on four angles of spreader body
The three-in-one auxiliary of 4 sets of side is anti-shake drum mechanism built and for control winding drum lifting mechanism, 4 sets three-in-one assist preventing shaking rotary machine
The electrical control mechanism of structure；
The hoisting drum mechanism, includes: raising line and main drum, and main drum is located at the top of spreader body end, raising
Rope is wound on main drum, and is connected again with spreader body；
The three-in-one drum mechanism built of 4 sets of auxiliary includes: auxiliary rope, auxiliary drum, the three-in-one mechanism of auxiliary, auxiliary drum
Positioned at the top at four angles of spreader body, auxiliary rope is also wound on main drum, and is connected again with auxiliary drum, is assisted three-in-one
Mechanism is also connected on auxiliary drum, to drive auxiliary drum；
The electrical control mechanism, comprising: rectification unit, brake unit, lifting mechanism frequency converter, the three-in-one mechanism frequency converter of auxiliary,
Main PLC and driver control unit, lifting mechanism frequency converter are connected with the motor on corresponding main drum, and three-in-one mechanism is assisted to become
Frequency device is connected with the motor on corresponding auxiliary three-in one machine structure, and rectification unit is to three-in-one to lifting mechanism frequency converter and auxiliary
Calculated result is sent to by mechanism inverter supply, main PLC to calculate double raising synchronized algorithms and prevent shaking control algolithm
Driver control unit by driver control unit real-time control lifting mechanism frequency converter and assists three-in-one mechanism frequency converter to drive
Move corresponding motor.
2. a kind of global function trolley electric control system based on trolley as described in claim 1, it is characterised in that: institute
The three-in-one mechanism of the auxiliary stated is three-in-one decelerating motor.
3. a kind of global function trolley electric control system based on trolley as described in claim 1, it is characterised in that: institute
The auxiliary rope stated also is wound on main drum, and the other end of auxiliary rope is around on the auxiliary pulley of spreader body, then with secondary volume
Cylinder is fixedly connected.
4. a kind of global function trolley electric control system based on trolley as described in claim 1, it is characterised in that: institute
The raising line stated is wound on main drum, and the other end of raising line is around on the pulley of spreader body, then passes through rope fixing end phase
It is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821234366.5U CN208561480U (en) | 2018-08-01 | 2018-08-01 | Global function trolley electric control system based on trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821234366.5U CN208561480U (en) | 2018-08-01 | 2018-08-01 | Global function trolley electric control system based on trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208561480U true CN208561480U (en) | 2019-03-01 |
Family
ID=65449247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821234366.5U Withdrawn - After Issue CN208561480U (en) | 2018-08-01 | 2018-08-01 | Global function trolley electric control system based on trolley |
Country Status (1)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639960A (en) * | 2018-08-01 | 2018-10-12 | 上海振华重工电气有限公司 | Global function trolley electric control system based on trolley and its control method |
-
2018
- 2018-08-01 CN CN201821234366.5U patent/CN208561480U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639960A (en) * | 2018-08-01 | 2018-10-12 | 上海振华重工电气有限公司 | Global function trolley electric control system based on trolley and its control method |
| CN108639960B (en) * | 2018-08-01 | 2024-02-06 | 上海振华重工电气有限公司 | Full-function trolley electrical control system based on lifting trolley and control method thereof |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190301 Effective date of abandoning: 20240206 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190301 Effective date of abandoning: 20240206 |