CN219239046U - Accurate positioning operation device of crane - Google Patents
Accurate positioning operation device of crane Download PDFInfo
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- CN219239046U CN219239046U CN202223346027.5U CN202223346027U CN219239046U CN 219239046 U CN219239046 U CN 219239046U CN 202223346027 U CN202223346027 U CN 202223346027U CN 219239046 U CN219239046 U CN 219239046U
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Abstract
The utility model provides a precise positioning running device of a crane, which comprises a crane body, travelling wheels, rails, a travelling direction precision control mechanism and a width direction clearance control mechanism, wherein the travelling wheels are arranged on the crane body; the travelling direction precision control mechanism comprises a servo motor, a speed reducer, an output gear, a rack, a speed measuring gear, an encoder and a PLC (programmable logic controller), wherein the servo motor is arranged on one side of the crane body, the servo motor drives the output gear to rotate through the speed reducer, the rack is arranged on one side of a track, the output gear is meshed with the rack, the speed measuring gear is arranged on the crane body and meshed with the rack, and the encoder is used for measuring the speed of the speed measuring gear; the width direction gap control mechanism comprises four groups of horizontal wheel mechanisms, each group of horizontal wheel mechanism comprises two horizontal wheels with adjustable horizontal distance, and the two horizontal wheels are clamped on two side surfaces of the rail. The device can eliminate errors caused by wheel slip and wheel clearance, and has higher walking direction control precision and width control precision.
Description
Technical Field
The utility model relates to the technical field of cranes, in particular to a precise positioning and operating device of a crane.
Background
With the development of scientific technology, many industries have higher requirements on automation of hoisting equipment, wherein the most basic is accurate positioning of the operation of the hoisting equipment, so as to facilitate automatic material taking or specified position processing operation.
The traditional crane operating mechanism adopts an alternating current motor as a power source, the preliminary positioning precision is generally about 1/60 of the speed, the stopping position is adjusted through repeated inching, the working efficiency is affected, and the cm-level positioning precision can be finally achieved.
While the accuracy requirements of automation on cranes are increased to the mm level, control of ac motors alone has been difficult to achieve, because: the traditional crane is driven by adopting an alternating current motor, a speed reducer and a belt, and wheels have slipping phenomenon under the inertia effect, so that errors are easy to generate; the width direction of the crane is not limited, and clearance errors are also frequently caused by the matching of wheels and rails.
Disclosure of Invention
The utility model aims at overcoming the defects of the prior art, and provides a precise positioning operation device of a crane, which can eliminate errors caused by wheel slip and wheel clearance and has higher walking direction control precision and width control precision.
The basic design concept of the utility model is as follows: the traditional travelling wheel travelling mode is replaced by the travelling mode of the gear and the rack, so that errors caused by wheel skidding are solved; the wheel gap error in the width direction is solved by clamping the horizontal wheel pair rail with adjustable horizontal distance.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows: the accurate positioning operation device of the crane comprises a crane body, travelling wheels, a track, a travelling direction precision control mechanism and a width direction gap control mechanism, wherein the crane body travels on the track through the travelling wheels;
the travelling direction precision control mechanism comprises a servo motor, a speed reducer, an output gear, a rack, a speed measuring gear, an encoder and a PLC, wherein the servo motor is arranged on one side of a crane body, the servo motor drives the output gear to rotate through the speed reducer, the rack is arranged on one side of a track, the output gear is meshed with the rack to drive the crane body to travel under the support of a travelling wheel, the speed measuring gear is arranged on the crane body and meshed with the rack, the encoder is used for measuring the speed of the speed measuring gear, and the PLC is connected with the encoder to acquire rotating speed data and control the working state of the servo motor;
the width direction gap control mechanism comprises four groups of horizontal wheel mechanisms arranged on two sides of the front part and two sides of the rear part of the crane body, each group of horizontal wheel mechanism comprises two horizontal wheels with adjustable horizontal distance, and the two horizontal wheels are clamped on two side surfaces of the rail.
The travelling wheel is a non-power wheel.
Based on the above, the horizontal wheel mechanism further comprises a horizontal wheel frame and an eccentric shaft, the horizontal wheel frame is mounted at the side end of the crane body, the eccentric shaft is mounted on the horizontal wheel frame, and the horizontal wheel is arranged at the eccentric position of the eccentric shaft.
The rack is arranged on the outer side face of the rail through the bolts.
Based on the above, the output gear and the speed measuring gear are both horizontally arranged.
The crane body is provided with one or two sets of advancing direction precision control mechanisms, and when two sets of advancing direction precision control mechanisms exist, the two sets of advancing direction precision control mechanisms are respectively arranged on two sides of the crane body.
Based on the above, the thickness of the output gear is greater than that of the speed measuring gear.
Based on the above, the diameter of the output gear is smaller than that of the tachometer gear.
The four groups of width direction gap control mechanisms are respectively arranged on the front outer side of the front travelling wheel and the rear outer side of the rear travelling wheel.
Based on the above, the horizontal wheel is mounted on the eccentric shaft through a bearing.
Compared with the prior art, the utility model has substantial characteristics and progress, and in particular has the following advantages:
1. the traveling of the crane does not depend on the traditional mode of driving wheels by a motor, but changes the mode of driving the gears to rotate by the motor and realizing traveling by matching the gears with racks, so that calculation errors of traveling distances in the starting and stopping processes caused by the slipping of the wheels and the rails can be avoided.
2. In the width direction, four sets of horizontal wheel mechanisms which are uniformly distributed around and are bilaterally symmetrical are added, the distance between two horizontal wheels in each set of horizontal wheel mechanism is adjustable, the rails can be clamped from two sides, and the transverse error caused by the gap between the wheels and the rails is solved.
3. The original cm-level precision is improved to mm-level precision by controlling the advancing error and the transverse error, and a precision foundation is laid for automatic operation.
4. The horizontal wheel mechanism is realized by adopting an eccentric shaft, and the horizontal adjustment is simple and convenient only by rotating the eccentric shaft.
5. The speed measurement process is realized by using a speed measurement gear and an encoder, and after the PLC obtains the feedback rotating speed, the travel path is calculated, and then the state of the servo motor is controlled, so that the feedback-control closed loop is realized.
Drawings
FIG. 1 is a schematic diagram of the whole structure of a precise positioning operation device of a crane in the utility model.
Fig. 2 is a schematic structural view of a traveling driving part in the accurate positioning operation device of the crane in the utility model.
Fig. 3 is a schematic structural view of a speed measuring part in the accurate positioning operation device of the crane.
Fig. 4 is a view showing a width direction gap control mechanism in the crane precise positioning operation device according to the present utility model.
In the figure: 1. a crane body; 2. a walking wheel; 3. a track; 4. a travel direction precision control mechanism; 5. a width direction gap control mechanism;
41. a servo motor; 42. a speed reducer; 43. an output gear; 44. a rack; 45. a speed measuring gear; 46. an encoder;
51. a horizontal wheel frame; 52. an eccentric shaft; 53. a horizontal wheel; 54. and (3) a bearing.
Detailed Description
The technical scheme of the utility model is further described in detail through the following specific embodiments.
As shown in fig. 1-4, the precise positioning running device of the crane comprises a crane body 1, a travelling wheel 2, a track 3, a travelling direction precision control mechanism 4 and a width direction gap control mechanism 5, wherein the crane body 1 travels on the track 3 through the travelling wheel 2, and the travelling wheel 2 is a non-power wheel and only has the function of supporting the crane body 1.
The traveling direction precision control mechanism 4 comprises a servo motor 41, a speed reducer 42, an output gear 43, a rack 44, a speed measuring gear 45, an encoder 46 and a PLC, wherein the servo motor 41 is arranged on one side of the crane body 1, the servo motor 41 drives the output gear 43 to rotate through the speed reducer 42, the rack 44 is arranged on one side of the track 3 through a bolt, the output gear 43 is meshed with the rack 44 in a horizontal state to drive the crane body 1 to travel under the support of the traveling wheel 2, the speed measuring gear 45 is arranged on the crane body 1 in a horizontal state and meshed with the rack 44, the encoder 46 is used for measuring the speed of the speed measuring gear 45, and the PLC is connected with the encoder 46 to acquire rotating speed data and control the working state of the servo motor 41.
The thickness of output gear is greater than the thickness of tachometer gear to provide stable driving force, the diameter of output gear is less than the diameter of tachometer gear, so that realize more accurate rotational speed measurement effect.
The width direction gap control mechanism 5 comprises four groups of horizontal wheel mechanisms arranged on the two outer sides in front of the travelling wheels at the front part of the crane body 1 and the two outer sides behind the travelling wheels at the rear part of the crane body 1, each group of horizontal wheel mechanism comprises a horizontal wheel frame 51, an eccentric shaft 52 and two horizontal wheels 53 with adjustable horizontal intervals, the horizontal wheel frame 51 is arranged at the side end of the crane body 1, the eccentric shaft 52 is arranged on the horizontal wheel frame 51, the horizontal wheels 53 are arranged at the eccentric position of the eccentric shaft 52 through bearings 54, and the two horizontal wheels 53 are clamped on the two side surfaces of the track 3.
In this embodiment, there is only one set of travel direction precision control mechanism, and in other embodiments, when there are two sets of travel direction precision control mechanisms, the two sets of travel direction precision control mechanisms are respectively disposed on two sides of the crane body.
Working principle:
the original driving system of the crane is modified, the servo motor 41 does not drive the travelling wheels to directly travel, the travelling wheels are replaced by a gear and rack mode, and the travelling wheels only play a role in supporting the crane body 1 and cooperate with the travelling function of the track 3 in operation.
The walking process comprises the following steps: the PLC controls the servo motor 41 to start, drives the output gear 43 to rotate, drives the crane body 1 to advance under the cooperation with the rack 44, simultaneously, the speed measuring gear 45 synchronously rotates, the encoder 46 converts the rotating speed data into an electric signal and sends the electric signal to the PLC, the PLC calculates the data of the advancing path, and controls the power and start and stop of the servo motor 41 according to the data, and the cooperation of the gear and the rack does not have slipping phenomenon, so that relatively higher positioning precision is maintained.
The transverse accuracy adjusting process comprises the following steps: at the beginning of stopping and preparing to start, the shaft end of the eccentric shaft 52 is twisted by a spanner, so that the eccentric shaft 52 rotates first, the distance between the two horizontal wheels 53 is adjusted, the track 3 is clamped, then the walking is started, the transverse precision can be maintained, and the gap error between the walking wheel and the track is avoided.
Finally, it should be noted that while the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present patent.
Claims (10)
1. The utility model provides a hoist accurate positioning operation device which characterized in that: the crane comprises a crane body, travelling wheels, a track, a travelling direction precision control mechanism and a width direction gap control mechanism, wherein the crane body travels on the track through the travelling wheels;
the travelling direction precision control mechanism comprises a servo motor, a speed reducer, an output gear, a rack, a speed measuring gear, an encoder and a PLC, wherein the servo motor is arranged on one side of a crane body, the servo motor drives the output gear to rotate through the speed reducer, the rack is arranged on one side of a track, the output gear is meshed with the rack to drive the crane body to travel under the support of a travelling wheel, the speed measuring gear is arranged on the crane body and meshed with the rack, the encoder is used for measuring the speed of the speed measuring gear, and the PLC is connected with the encoder to acquire rotating speed data and control the working state of the servo motor;
the width direction gap control mechanism comprises four groups of horizontal wheel mechanisms arranged on two sides of the front part and two sides of the rear part of the crane body, each group of horizontal wheel mechanism comprises two horizontal wheels with adjustable horizontal distance, and the two horizontal wheels are clamped on two side surfaces of the rail.
2. The crane precise positioning and operating device according to claim 1, wherein: the travelling wheel is a non-power wheel.
3. The crane precise positioning operation device according to claim 1 or 2, characterized in that: the horizontal wheel mechanism further comprises a horizontal wheel frame and an eccentric shaft, the horizontal wheel frame is mounted at the side end of the crane body, the eccentric shaft is mounted on the horizontal wheel frame, and the horizontal wheel is arranged at the eccentric position of the eccentric shaft.
4. The precise positioning operation device of a crane according to claim 3, wherein: the rack is arranged on the outer side face of the rail through bolts.
5. The precise positioning operation device of a crane according to claim 4, wherein: the output gear and the speed measuring gear are both horizontally arranged.
6. The precise positioning operation device of a crane according to claim 5, wherein: the crane body is provided with one or two sets of travelling direction precision control mechanisms, and when two sets of travelling direction precision control mechanisms exist, the two sets of travelling direction precision control mechanisms are respectively arranged on two sides of the crane body.
7. The precise positioning operation device of a crane according to claim 5, wherein: the thickness of the output gear is larger than that of the speed measuring gear.
8. The crane precise positioning and operating device according to claim 7, wherein: the diameter of the output gear is smaller than that of the tachometer gear.
9. The crane precise positioning and operating device according to claim 8, wherein: the four groups of width direction gap control mechanisms are respectively arranged at the front outer side of the front travelling wheel and the rear outer side of the rear travelling wheel.
10. The precise positioning operation device of a crane according to claim 3, wherein: the horizontal wheel is mounted on the eccentric shaft through a bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223346027.5U CN219239046U (en) | 2022-12-14 | 2022-12-14 | Accurate positioning operation device of crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223346027.5U CN219239046U (en) | 2022-12-14 | 2022-12-14 | Accurate positioning operation device of crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219239046U true CN219239046U (en) | 2023-06-23 |
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ID=86849500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223346027.5U Active CN219239046U (en) | 2022-12-14 | 2022-12-14 | Accurate positioning operation device of crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219239046U (en) |
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2022
- 2022-12-14 CN CN202223346027.5U patent/CN219239046U/en active Active
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