CN210480631U - Lifting equipment system and ranging control system - Google Patents
Lifting equipment system and ranging control system Download PDFInfo
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- CN210480631U CN210480631U CN201920287013.XU CN201920287013U CN210480631U CN 210480631 U CN210480631 U CN 210480631U CN 201920287013 U CN201920287013 U CN 201920287013U CN 210480631 U CN210480631 U CN 210480631U
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Abstract
The application discloses a lifting equipment system and a distance measurement control system thereof, wherein the distance measurement control system comprises a distance measurement sensor, a controller and an input device, the distance measurement sensor is used for measuring the movement of the lifting equipment, and the controller calculates and corrects the movement distance according to measurement data and outputs a control signal; the actuating mechanism acts according to the control signal, the input device is used for inputting parameters, and the controller is respectively connected with the input device and the ranging sensor, and the ranging sensor comprises a radar sensor. The lifting equipment system comprises the distance measurement control system and the executing mechanism, the moving distance of the lifting equipment can be accurately measured, mechanical collision is avoided, and damage to the lifting equipment is reduced.
Description
Technical Field
The utility model belongs to the technical field of the lifting device technique and specifically relates to a lifting device system and range finding control system are related to.
Background
The lifting equipment is an extremely important equipment in the crane industry, and the performance of the lifting equipment is related to the safety of personnel and the safety of the equipment. In the actual use process, the equipment needs reliable actions at 2 positions, namely a pre-limit position and a limit position, wherein the pre-limit position is used for reducing the speed of the motor and switching from a high-speed gear to a 1 gear; the limit position is to stop the motor. If directly let the motor park from high-speed shelves, because it is big to rise equipment inertia, lead to the stopping distance far away, and the brake block wearing and tearing are fast moreover, so need follow the position of prescribing a limit to let the motor slow down to 1 shelves (1 shelves speed is 5 ~ 10% of full speed generally), then brake again, braking distance is short like this, and the brake block wearing and tearing are few moreover, and the security is high.
At present, the pre-limit and the limit position are mainly detected according to a travel switch or a photoelectric sensor, as shown in fig. 1, wherein 1 is a metal support, 2 is a lifting equipment metal support, 3 is a pre-limit sensor, 4 is a limit sensor, the lifting equipment metal support moves along the horizontal direction, when the lifting equipment moves to the position of the pre-limit sensor, as shown in the position 2 in the figure, the pre-limit sensor detects the metal support, and the pre-limit sensor outputs a deceleration control signal; when the lifting equipment moves to the position of the limit sensor, such as the position 3 in the figure, the limit sensor detects the metal bracket, and the pre-limit sensor outputs a parking control signal.
Because the working environment of the lifting equipment is severe and the dust is extremely large, the service life of the lifting equipment is short by adopting a travel switch; adopt photoelectric switch, easily receive the dust influence, the maloperation appears easily, and the equipment that rises consequently bumps.
In the prior art, in order to prevent collision, buffers are arranged on two sides of lifting equipment, and when collision occurs, energy is absorbed by the buffers.
Therefore, it is an urgent problem to accurately measure the moving distance of the lifting equipment to avoid collision.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a play to rise equipment system and range finding control system adopts the radar range finding mode, calculates the movement distance that plays to rise equipment to revise movement distance, combine to set for the threshold value, control the motion that plays to rise equipment, accurate measurement plays to rise equipment system movement distance, has avoided mechanical collision, reduces the harm to playing to rise equipment.
The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme:
a distance measurement control system of lifting equipment comprises a distance measurement sensor, a controller and input equipment, wherein the distance measurement sensor is used for measuring the movement of the lifting equipment, and the controller calculates and corrects the movement distance according to measurement data and outputs a control signal; the execution mechanism acts according to the control signal, the input device is used for inputting parameters, and the controller is connected with the input device and the ranging sensor respectively.
The above utility model discloses an above-mentioned utility model purpose can realize still through following technical scheme:
a lifting equipment system comprises a lifting equipment distance measurement control system and an execution mechanism, wherein the lifting equipment distance measurement control system measures the movement distance of the execution mechanism and controls the action of the execution mechanism according to the movement distance.
The utility model discloses further set up to: the controller comprises a PLC control module, and the ranging sensor comprises a radar sensor.
The utility model discloses further set up to: the input device includes a human-machine session interface for inputting control parameters or commands.
The utility model discloses further set up to: the actuating mechanism comprises a motion mechanism, a hoisting equipment electronic control module, a motor and a speed reducer, one end of the speed reducer is connected with the motor, the other end of the speed reducer is connected with the motion mechanism, the motion mechanism and the distance measurement control system are arranged on a motion frame, the motion frame and the motion mechanism can independently move, the distance measurement control system is connected with the hoisting equipment electronic control module, and the hoisting equipment electronic control module is simultaneously connected with the motor; the distance measurement control system measures the movement distance of the movement mechanism and outputs a control signal to the hoisting equipment electronic control module according to a measurement result, and the hoisting equipment electronic control module controls the action of the motor according to the control signal.
The utility model discloses further set up to: the movement mechanism comprises a walking structure moving horizontally and a winding drum structure moving vertically.
The utility model discloses further set up to: the lifting equipment electric control module comprises a contactor and a speed regulator, and the contactor is connected with the speed regulator.
Compared with the prior art, the utility model has the beneficial technical effects that:
1. the radar ranging principle is adopted, the filtering algorithm and the anti-shaking processing are combined, the control signal is output, the control of the lifting equipment is achieved, the reliability is high, and the parameter setting is flexible.
2. Furthermore, the system comprises the functions of pre-limit output and limit output, so that mechanical collision is avoided, and damage to lifting equipment is reduced.
Drawings
Fig. 1 is a schematic diagram of a limiting structure of a conventional hoisting device in the application.
Fig. 2 is a schematic structural diagram of a hoisting equipment ranging control system according to an embodiment of the present application.
Fig. 3 is a schematic view illustrating a principle of measuring a running distance of a lifting device according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a hoist system according to an embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A hoist system of the present application, as shown in figure 2,
the device comprises a distance measuring sensor 11, a controller 12 and an input device 13, wherein the distance measuring sensor 11 is used for measuring the movement of a lifting device, and the controller 12 calculates and corrects the movement distance according to the measurement data and outputs a control signal; the input device 13 is used for inputting parameters or commands and displaying them. The controller is connected with the input device and the ranging sensor respectively.
The controller 12 calculates the movement distance of the lifting equipment by using a distance measurement algorithm according to the detection data of the distance measurement sensor 11, corrects the movement distance by using a filtering algorithm, combines a set threshold value according to the corrected value, obtains a control signal of the lifting equipment by using an anti-shake algorithm, and outputs the control signal to a corresponding execution mechanism.
As shown in fig. 3, the curves in the graph respectively represent the frequency of the transmitted signal and the frequency of the received signal, the sweep period is T, the transmitted signal is reflected by the target, the echo signal has a delay, and in the frequency change of the triangle, the distance measurement can be performed on both the rising edge and the falling edge. For moving objects, the frequency difference during the rising/falling edge is different, and the distance is measured by the two frequency differences.
The ranging algorithm uses the following formula:
wherein s (t) represents the distance between node a and node B in meters; kr represents the chirp rate in Hz/sec; c represents the speed of light, equal to 299792458 m/s; Δ f1Indicating rising edge of received signal frequency at deltat1The amount of change over time; Δ f2Indicating the falling edge of the frequency of the transmitted signal at deltat2The amount of change over time.
The radar ranging is adopted, so that the horizontal movement distance of the lifting equipment can be measured, and the vertical movement distance of the lifting equipment can also be measured. The present application is generally expressed in terms of a movement distance.
The controller comprises a PLC control module, and the ranging sensor comprises a radar sensor.
The input device includes a human-machine session interface for inputting control parameters or commands.
The controller calculates the movement distance of the lifting equipment and outputs a control signal to control the movement of the lifting equipment according to a set threshold value.
Because the movement of the lifting equipment has shaking in the movement process, in order to make the calculation more accurate, the controller corrects the test data of the movement distance,
in a specific embodiment of the present application, the correction method uses a median filtering algorithm, and the specific correction method is as follows:
taking the length of a sampling data window as L, and calculating the hook head movement correction distance s1(t) at a certain moment as follows:
s1, arranging L numbers of S (t-L +1) -S (t) in an ascending order;
s2, selecting a middle value k;
s3, assigning S1(t) ═ k;
where the window length L takes an odd number, such that there is only one intermediate value.
In a specific embodiment of the present application, the correction method adopts a weighted average algorithm, and the specific correction method is as follows: taking the length of a sampling data window as L, endowing different weights to each data, calculating the hook head movement correction distance s1(t) at a certain moment,
s1(t)＝s(t)×K1+s(t-1)×K2+…+s(t-i)×K(i+1)+…
+s(t-n)×K(n+1)
wherein, K (i +1) represents the weight of the (i +1) th data, and s (t) represents the hook head movement distance at the time of t.
In order to make the correction more realistic, the weight of the sample values closer to the current time is larger.
When the window length L is too large, the distance information is delayed greatly, the measurement precision is affected, and the value of the length of the sampling data window is 5-20.
In one embodiment, assuming that the window L is equal to 5, the weights of the samples from the current time point to the previous time point are respectively 0.45, 0.25, 0.15, 0.1, and 0.05, and are calculated as follows:
s1(t)＝s(t)×0.45+s(t-1)×0.25+s(t-2)×0.15+s(t-3)×0.1
+s(t-4)×0.05
in the actual use process, the hoisting equipment needs reliable action at the pre-limit position and the limit position. The pre-limit position is to enable the motor to decelerate and switch from a high-speed gear to a 1 gear; the limit position is to stop the motor. If directly let the motor park from high-speed shelves, because it is big to rise equipment inertia, lead to the stopping distance far away, and the brake block wearing and tearing are fast moreover, so need follow the position of prescribing a limit to let the motor slow down to 1 shelves, wherein 1 shelves speed is 5 ~ 10% of full speed generally, then brake again, braking distance is short like this, and the brake block wearing and tearing are few moreover, and the security is high.
And according to the corrected data and a set threshold value, adopting an anti-shaking algorithm, and carrying out pre-limit position control and limit position control by a controller.
In one embodiment, the method for the predefined position control is as follows:
when the pre-limit position-first threshold value/2 < the current position < the pre-limit position + the first threshold value/2, keeping the current state unchanged;
when the current position is less than or equal to the pre-limit position-the first threshold value/2, pre-limit output is carried out, and the hoisting equipment is controlled to decelerate;
and when the current position is larger than or equal to the pre-limit position plus the first threshold value/2, releasing the pre-limit output.
In another embodiment, the method for the predefined position control is as follows:
when the current position < the pre-limit position occurs for N times continuously, outputting the pre-limit to control the lifting equipment to decelerate;
and when the current position is larger than the pre-limit position for N times continuously, pre-limit output is performed, and the pre-limit output is released.
The extreme positions are controlled in the same way as the predefined positions and, correspondingly,
in one embodiment, the method for extreme position control is as follows:
when the limit position-second threshold value/2 < the current position < the limit position + the second threshold value/2, keeping the current state unchanged;
when the current position is less than or equal to the limit position-a second threshold value/2, outputting in a limit mode, and controlling the hoisting equipment to decelerate;
and when the current position is larger than or equal to the limit position plus the second threshold value/2, the limit output is released.
In another embodiment, the method for extreme position control is as follows:
when the current position < the limit position occurs for N times continuously, outputting in a limit mode, and controlling the lifting equipment to decelerate;
when the current position > the limit position occurs N times in succession, the limit output is released.
A lifting equipment system is shown in fig. 4 and comprises a lifting equipment distance measurement control system 1 and an execution mechanism, wherein the lifting equipment distance measurement control system 1 measures the movement distance of the execution mechanism and controls the action of the execution mechanism according to the movement distance.
The actuating mechanism comprises a moving mechanism 23, a hoisting equipment electronic control module 24, a motor 21 and a speed reducer 22, one end of the speed reducer 22 is connected with the motor 21, the other end of the speed reducer 22 is connected with the moving mechanism 23, the moving mechanism 23 and the distance measurement control system 1 are arranged on a moving frame, the moving frame and the moving mechanism 23 can move independently, the distance measurement control system 1 is connected with the hoisting equipment electronic control module 24, and the hoisting equipment electronic control module 24 is simultaneously connected with the motor 21; the distance measurement control system 1 measures the movement distance of the movement mechanism 23, and outputs a control signal to the hoisting equipment electronic control module 24 according to the measurement result, and the hoisting equipment electronic control module 24 controls the action of the motor 21 according to the control signal.
The moving mechanism 23 is a traveling wheel capable of realizing horizontal movement or a wire rope reel capable of realizing vertical movement, and for convenience of description, the moving mechanism is collectively referred to as a moving mechanism.
The moving frame is a crown block or similar frame structure capable of realizing movement, the moving frame can drive the moving mechanism to move integrally, the distance measurement control system 1 is arranged on the moving frame, and in the moving process of the moving frame, the distance measurement control system 1 correspondingly moves to measure the distance through the relative movement with the measured object.
The object to be measured is a wall-surface type shelter or an adjacent moving frame.
The lifting equipment electric control module comprises a contactor and a speed regulator, and the contactor is connected with the speed regulator.
The distance measurement control system 1 outputs a control signal, the contactor controls the on/off of a main contact of the contactor according to the control signal, and then the control of a speed regulator is realized, the speed regulator controls the movement speed or the movement state of a motor, and the movement state comprises movement or stop.
The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.
Claims (7)
1. The utility model provides a play to rise equipment range finding control system which characterized in that: the device comprises a distance measuring sensor, a controller and input equipment, wherein the distance measuring sensor is used for measuring the movement of lifting equipment, and the controller calculates and corrects the movement distance according to the measurement data and outputs a control signal; the execution mechanism acts according to the control signal, the input device is used for inputting parameters, and the controller is connected with the input device and the ranging sensor respectively.
2. A hoist ranging control system according to claim 1, characterized in that: the controller comprises a PLC control module, and the ranging sensor comprises a radar sensor.
3. A hoist ranging control system according to claim 1, characterized in that: the input device includes a human-machine session interface for inputting control parameters or commands.
4. A hoisting equipment system using the hoisting equipment ranging control system of any one of claims 1 to 3, wherein: the distance measurement control system of the lifting equipment measures the movement distance of the execution mechanism and controls the action of the execution mechanism according to the movement distance.
5. A hoist system according to claim 4, wherein: the actuating mechanism comprises a motion mechanism, a hoisting equipment electronic control module, a motor and a speed reducer, one end of the speed reducer is connected with the motor, the other end of the speed reducer is connected with the motion mechanism, the motion mechanism and the distance measurement control system are arranged on a motion frame, the motion frame and the motion mechanism can independently move, the distance measurement control system is connected with the hoisting equipment electronic control module, and the hoisting equipment electronic control module is simultaneously connected with the motor; the distance measurement control system measures the movement distance of the movement mechanism and outputs a control signal to the hoisting equipment electronic control module according to a measurement result, and the hoisting equipment electronic control module controls the action of the motor according to the control signal.
6. A hoist system according to claim 5, wherein: the movement mechanism comprises a walking structure moving horizontally and a winding drum structure moving vertically.
7. A hoist system according to claim 5, wherein: the lifting equipment electric control module comprises a contactor and a speed regulator, and the contactor is connected with the speed regulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920287013.XU CN210480631U (en) | 2019-03-07 | 2019-03-07 | Lifting equipment system and ranging control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920287013.XU CN210480631U (en) | 2019-03-07 | 2019-03-07 | Lifting equipment system and ranging control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210480631U true CN210480631U (en) | 2020-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920287013.XU Active CN210480631U (en) | 2019-03-07 | 2019-03-07 | Lifting equipment system and ranging control system |
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| CN (1) | CN210480631U (en) |
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- 2019-03-07 CN CN201920287013.XU patent/CN210480631U/en active Active
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