CN211004240U - Real-time control system for swing angle of overhead travelling crane hanging object - Google Patents
Real-time control system for swing angle of overhead travelling crane hanging object Download PDFInfo
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- CN211004240U CN211004240U CN201920885700.1U CN201920885700U CN211004240U CN 211004240 U CN211004240 U CN 211004240U CN 201920885700 U CN201920885700 U CN 201920885700U CN 211004240 U CN211004240 U CN 211004240U
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Abstract
A real-time control system for the swing angle of a crane hoist comprises: a data processing system for processing and analyzing data; the driving system is connected with the data processing system and is used for driving the crown block to move; the angle measuring system is connected with the data processing system and is used for monitoring the swing angle in the running process of the goods in real time; and the speed monitoring device is connected with the data processing system and is used for monitoring the movement speed of the crown block in real time. The utility model discloses compare in prior art, can make overhead traveling crane and goods at start-up stage and braking stage, the fastest pendulum that disappears improves freight's stability, improves conveying efficiency, reduces the emergence of incident.
Description
Technical Field
The utility model relates to a crown block control method, concretely relates to crown block hangs thing swing angle real-time control system belongs to harbour machinery technical field. The utility model discloses still relate to a overhead traveling crane hangs thing swing angle real-time control system.
Background
With the increasing global trade volume, the throughput requirements of ports are higher and higher. Under the prerequisite of harbour not expanding, improve the operating efficiency of harbour gantry crane overhead traveling crane, can improve harbour gantry crane's work efficiency greatly.
However, the operation of the overhead travelling crane is a very complex nonlinear system which is mainly divided into 3 control parts: starting stage, stable operation stage and braking stage. In these three phases, the cargo is swung with respect to the crown block, since the crown block is flexibly connected with the cargo. Can greatly influence the stationarity of overhead traveling crane operation in-process for the overhead traveling crane is unstable at whole operation in-process, and the functioning speed is slow, greatly influences production efficiency, and if when arriving the destination, the goods still has the swing, then the overhead traveling crane still needs extra operation to make the goods stop the swing, extravagant time. Meanwhile, safety accidents are easy to happen.
In general, at the starting stage, the acceleration of the trolley is controlled to realize the pendulum suspension and the pendulum elimination, the speed of the trolley reaches the full speed at the pendulum elimination position, and then the trolley advances at the maximum speed without pendulum at the constant speed in the middle process, so that the speed of the trolley runs at the highest speed in most of the operation process. The reverse of the start-up phase is achieved also by controlling the acceleration of the trolley as it approaches the target position. When the unloading destination is reached, the pendulum is lifted to complete pendulum elimination. The unloading process is static unloading, and the lifting appliance is above the target position.
Therefore, how to provide a real-time control system for the swing angle of an overhead traveling crane lifting object, which can make the overhead traveling crane and the goods in the starting stage and the braking stage, eliminate the swing at the fastest speed, improve the stability of goods transportation, improve the transportation efficiency, and reduce the occurrence of safety accidents, is a technical problem to be solved urgently by technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
The not enough to above-mentioned prior art, the utility model discloses can make overhead traveling crane and goods in start-up stage and braking stage, the pendulum that disappears of fastest speed improves freight's stability, improves conveying efficiency, reduces the emergence of incident. The utility model provides a crane hangs thing swing angle real-time control system, include: a data processing system for processing and analyzing data; the driving system is connected with the data processing system and is used for driving the crown block to move; the angle measuring system is connected with the data processing system and is used for monitoring the swing angle in the running process of the goods in real time; and the speed monitoring device is connected with the data processing system and is used for monitoring the movement speed of the crown block in real time.
According to the utility model discloses a first embodiment, a provided overhead traveling crane hangs thing swing angle real-time control system.
A real-time control system for the swing angle of a crane hoist comprises: a data processing system for processing and analyzing data; the driving system is connected with the data processing system and is used for driving the crown block to move; the angle measuring system is connected with the data processing system and is used for monitoring the swing angle in the running process of the goods in real time; and the speed monitoring device is connected with the data processing system and is used for monitoring the movement speed of the crown block in real time.
Further, as a more preferred embodiment of the present invention, the data processing system includes: a central data processor for computing data; the running distance input module is connected with the central data processor and used for receiving a crown block moving instruction; the driving execution module is connected with the central data processor and is used for controlling the driving system; the speed information input module is connected with the central data processor and is used for acquiring speed information; and the angle information input module is connected with the central data processor and is used for acquiring the swing angle information.
Further, as a more preferred embodiment of the present invention, the pendulum length of the pendulum field recognition device for recognizing the center of gravity of the cargo is specifically: the pendulum length recognition device is an absolute encoder.
Further, as a more preferred embodiment of the present invention, the driving system is used for driving the crown block to move, specifically: the drive system includes: the movable frame is arranged below the crown block main body; a driven wheel and a driving wheel which are arranged on the movable frame; the motor is arranged on the movable frame and used for driving the driving wheel to rotate.
Further, as a more preferable embodiment of the present invention, the motor is an alternating current motor.
Further, as a more preferred embodiment of the present invention, the driving system further includes: a frequency converter; and the data processing system controls the alternating current motor through a frequency converter.
Further, as a more preferred embodiment of the present invention, the driving system further includes: the braking device is arranged on the movable frame and used for braking the crown block.
Further, as the utility model relates to a more preferred embodiment, speed monitoring system is used for real-time supervision overhead traveling crane velocity of motion specifically to be: the speed monitoring device is a rotating speed sensor which is arranged on the driven wheel shaft.
Further, as the utility model relates to a more preferred embodiment, angle measurement system is used for the swing angle of real-time supervision goods operation in-process specifically to do, angle measurement system includes: the image acquisition device is arranged below the overhead traveling crane frame and used for acquiring the cargo swing amplitude image.
Further, as a more preferred embodiment of the present invention, the overhead traveling crane hangs thing swing angle real-time control system and still includes: and a manual control signal input device connected with the data processing system.
The utility model discloses in, provide a thing swing angle real-time control system is hung to overhead traveling crane, include: a data processing system for processing and analyzing data; the driving system is connected with the data processing system and is used for driving the crown block to move; the angle measuring system is connected with the data processing system and is used for monitoring the swing angle in the running process of the goods in real time; and the speed monitoring device is connected with the data processing system and is used for monitoring the movement speed of the crown block in real time. Compared with the prior art, the real-time control system for the swing angle of the overhead traveling crane control the overhead traveling crane through the driving system according to the data fed back by the angle measuring system and the speed monitoring device. The angle measurement system can monitor the swing angle of the goods relative to the overhead travelling crane in real time, so that the swing of the goods is always within a stable range. And the flexible self-adaptive adjustment of the data processing system can enable the overhead travelling crane and the goods to eliminate the swing at the highest speed in the starting stage and the braking stage, thereby improving the stability of goods transportation, improving the transportation efficiency and reducing the occurrence of safety accidents.
Drawings
Fig. 1 is the embodiment of the utility model provides an overall structure chart of overhead traveling crane hangs thing swing angle real-time control system.
Reference numerals:
1: a data processing system; 101: a central data processor; 102: a running distance input module; 103: a drive execution module; 104: a speed information input module; 105: an angle information input module; 2: a drive system; 201: moving the frame; 202: a motor; 203: a frequency converter; 204: a braking device; 3: an angle measurement system; 4: and a manual control signal input device.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly disposed on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, the meaning of a plurality of or a plurality of is two or more unless specifically limited otherwise.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the practical limit conditions of the present application, so that the modifications of the structures, the changes of the ratio relationships, or the adjustment of the sizes, do not have the technical essence, and the modifications, the changes of the ratio relationships, or the adjustment of the sizes, are all within the scope of the technical contents disclosed in the present application without affecting the efficacy and the achievable purpose of the present application.
According to the utility model discloses a first embodiment, a provided overhead traveling crane hangs thing swing angle real-time control system.
A real-time control system for the swing angle of a crane hoist comprises: a data processing system 1 for processing and analyzing data; a driving system 2 connected with the data processing system 1 and used for driving the crown block to move; the angle measuring system 3 is connected with the data processing system 1 and is used for monitoring the swing angle in the running process of the goods in real time; and the speed monitoring device 4 is connected with the data processing system 1 and is used for monitoring the moving speed of the crown block in real time.
As shown in fig. 1, the utility model relates to a thing swing angle real-time control system is hung to overhead traveling crane, include: a data processing system 1 for processing and analyzing data; a driving system 2 connected with the data processing system 1 and used for driving the crown block to move; the angle measuring system 3 is connected with the data processing system 1 and is used for monitoring the swing angle in the running process of the goods in real time; and the speed monitoring device 4 is connected with the data processing system 1 and is used for monitoring the moving speed of the crown block in real time. Compared with the prior art, the real-time control system for the swing angle of the overhead crane lifting object, provided by the application, has the advantages that the data processing system 1 controls the movement of the overhead crane through the driving system 2 according to the data fed back by the angle measuring system 3 and the speed monitoring device 4. The angle measuring system 3 can monitor the swing angle of the goods relative to the overhead travelling crane in real time, so that the swing of the goods is always within a stable range. And the flexible self-adaptive adjustment of the data processing system 1 can enable the overhead travelling crane and the goods to eliminate the swing at the highest speed in the starting stage and the braking stage, thereby improving the stability of goods transportation, improving the transportation efficiency and reducing the occurrence of safety accidents.
Specifically, in the embodiment of the present invention, the data processing system 1 includes: a central data processor 101 for computing data; a running distance input module 102 connected with the central data processor 101 and used for receiving a moving instruction of the overhead travelling crane; a drive execution module 103 connected to the central data processor 101 for controlling the drive system 2; a speed information input module 104 connected to the central data processor 101 for acquiring speed information; and an angle information input module 105 connected with the central data processor 101 and used for acquiring the swing angle information.
Specifically expounded, in the embodiment of the utility model provides an in, the pendulum length that the pendulum field recognition device is used for discerning the goods focus specifically is: the pendulum length recognition device is an absolute encoder.
Specifically, in the embodiment of the present invention, the driving system 2 is used to drive the crown block to move, specifically: the drive system 2 includes: a traveling carriage 201 disposed below the crown block main body; a driven wheel and a driving wheel provided on the moving carriage 201; and the motor 202 is arranged on the moving frame 201 and is used for driving the driving wheel to rotate.
Specifically, in the embodiment of the present invention, the motor 202 is an ac motor.
Specifically, in the embodiment of the present invention, the driving system 2 further includes: a frequency converter 203; the data processing system 1 controls the ac motor via the frequency converter 203.
Specifically, in the embodiment of the present invention, the driving system 2 further includes: and a braking device 204 arranged on the moving frame 201 and used for braking the crown block.
Explaining specifically, in the embodiment of the utility model provides an in, speed monitoring system is used for real-time supervision overhead traveling crane velocity of motion specifically to be: the speed monitoring device 4 is a rotating speed sensor which is arranged on a driven wheel shaft.
Explaining specifically, in the embodiment of the utility model provides an in, angle measurement system 3 is arranged in the swing angle of real-time supervision goods operation in-process specifically does, angle measurement system 3 includes: the image acquisition device is arranged below the overhead traveling crane frame and used for acquiring the cargo swing amplitude image.
Explaining specifically, in the embodiment of the utility model provides an in, the overhead traveling crane hangs thing swing angle real-time control system and still includes: connected to the data processing system 1 is a manual control signal input device 4.
Example 1
A real-time control system for the swing angle of a crane hoist comprises: a data processing system 1 for processing and analyzing data; a driving system 2 connected with the data processing system 1 and used for driving the crown block to move; the angle measuring system 3 is connected with the data processing system 1 and is used for monitoring the swing angle in the running process of the goods in real time; and the speed monitoring device 4 is connected with the data processing system 1 and is used for monitoring the moving speed of the crown block in real time.
Example 2
Example 3
The embodiment 2 is repeated, except that the pendulum length of the pendulum field recognition device for recognizing the center of gravity of the cargo is specifically as follows: the pendulum length recognition device is an absolute encoder.
Example 4
The embodiment 3 is repeated, except that the driving system 2 is used for driving the crown block to move specifically as follows: the drive system 2 includes: a traveling carriage 201 disposed below the crown block main body; a driven wheel and a driving wheel provided on the moving carriage 201; and the motor 202 is arranged on the moving frame 201 and is used for driving the driving wheel to rotate.
Example 5
Example 4 is repeated except that the motor 202 is an ac motor.
Example 6
Embodiment 5 is repeated except that the drive system 2 further comprises: a frequency converter 203; the data processing system 1 controls the ac motor via the frequency converter 203.
Example 7
Embodiment 6 is repeated except that the drive system 2 further comprises: and a braking device 204 arranged on the moving frame 201 and used for braking the crown block.
Example 8
The embodiment 7 is repeated, except that the speed monitoring system is used for monitoring the movement speed of the crown block in real time, and specifically comprises the following steps: the speed monitoring device 4 is a rotating speed sensor which is arranged on a driven wheel shaft.
Example 9
Embodiment 8 is repeated, except that the angle measurement system 3 is used for monitoring the swing angle of the goods in the running process in real time, and the angle measurement system 3 includes: the image acquisition device is arranged below the overhead traveling crane frame and used for acquiring the cargo swing amplitude image.
Example 10
Repeat embodiment 9, only overhead traveling crane hangs thing swing angle real-time control system and still includes: connected to the data processing system 1 is a manual control signal input device 4.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. The utility model provides a real-time control system of overhead traveling crane thing swing angle that hangs which characterized in that includes:
a data processing system for processing and analyzing data;
the driving system is connected with the data processing system and is used for driving the crown block to move;
the angle measuring system is connected with the data processing system and is used for monitoring the swing angle in the running process of the goods in real time;
the speed monitoring device is connected with the data processing system and is used for monitoring the movement speed of the crown block in real time;
wherein the angle measurement system comprises: the image acquisition device is arranged below the overhead traveling crane frame and used for acquiring the cargo swing amplitude image.
2. The system of claim 1, wherein the real-time control system for the swing angle of the overhead traveling crane hoist is further characterized in that,
the data processing system includes: a central data processor for computing data;
the running distance input module is connected with the central data processor and used for receiving a crown block moving instruction;
the driving execution module is connected with the central data processor and is used for controlling the driving system;
the speed information input module is connected with the central data processor and is used for acquiring speed information;
and the angle information input module is connected with the central data processor and is used for acquiring the swing angle information.
3. The system for controlling the swing angle of an overhead traveling crane hoist in real time according to claim 2, wherein the driving system is configured to drive the overhead traveling crane to move specifically as follows: the drive system includes:
the movable frame is arranged below the crown block main body;
a driven wheel and a driving wheel which are arranged on the movable frame;
the motor is arranged on the movable frame and used for driving the driving wheel to rotate.
4. The system of claim 3, wherein the motor is an AC motor.
5. The real-time control system for the swing angle of the overhead traveling crane hoist according to claim 4, wherein the driving system further comprises: a frequency converter; and the data processing system controls the alternating current motor through a frequency converter.
6. The real-time control system for the swing angle of the overhead traveling crane hoist according to claim 5, wherein the driving system further comprises: the braking device is arranged on the movable frame and used for braking the crown block.
7. The system according to claim 6, wherein the speed monitoring system is configured to monitor the moving speed of the crown block in real time, and specifically comprises: the speed monitoring device is a rotating speed sensor which is arranged on the driven wheel shaft.
8. The system for controlling the swing angle of an overhead traveling crane hoist in real time according to any one of claims 1 to 7, further comprising: and a manual control signal input device connected with the data processing system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920885700.1U CN211004240U (en) | 2019-06-13 | 2019-06-13 | Real-time control system for swing angle of overhead travelling crane hanging object |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920885700.1U CN211004240U (en) | 2019-06-13 | 2019-06-13 | Real-time control system for swing angle of overhead travelling crane hanging object |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113562621A (en) * | 2021-07-27 | 2021-10-29 | 衡水京华制管有限公司 | Early warning method for dangerous hanging object of crown block, terminal equipment and readable storage medium |
| CN113734979A (en) * | 2021-09-15 | 2021-12-03 | 哈尔滨工业大学 | Hoisting swing angle measuring device |
-
2019
- 2019-06-13 CN CN201920885700.1U patent/CN211004240U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113562621A (en) * | 2021-07-27 | 2021-10-29 | 衡水京华制管有限公司 | Early warning method for dangerous hanging object of crown block, terminal equipment and readable storage medium |
| CN113562621B (en) * | 2021-07-27 | 2024-02-23 | 衡水京华制管有限公司 | Crown block dangerous suspended object early warning method, terminal equipment and readable storage medium |
| CN113734979A (en) * | 2021-09-15 | 2021-12-03 | 哈尔滨工业大学 | Hoisting swing angle measuring device |
| CN113734979B (en) * | 2021-09-15 | 2022-11-01 | 哈尔滨工业大学 | Hoisting swing angle measuring device |
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