CN2732708Y - Three-dimensional automatic-location control device for travelling cranes and bridge cranes - Google Patents
Three-dimensional automatic-location control device for travelling cranes and bridge cranes Download PDFInfo
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- CN2732708Y CN2732708Y CN 200420036155 CN200420036155U CN2732708Y CN 2732708 Y CN2732708 Y CN 2732708Y CN 200420036155 CN200420036155 CN 200420036155 CN 200420036155 U CN200420036155 U CN 200420036155U CN 2732708 Y CN2732708 Y CN 2732708Y
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Abstract
The utility model discloses a three-dimensional automatic-location control device for travelling cranes and bridge cranes. The device is composed of a center control portion which takes charge of collecting and disposing various information and signals of a locomotive and dispatching control instruction, an on-crane control portion which takes charge of checking the position of Y, Z direction of a small crane and communicating data with the center control portion, a location communication cable which checks the position of X direction and communicates data with the center control portion and a location communication cable which is arranged on the Y direction of a large crane and checks the position of the address. The utility model can reach three-dimensional automatic location, which improves the automation level and the management of operating procedure, improves the working level, makes sure the safe production, and improves the economic benefit.
Description
Technical field
The utility model relates to overhead traveling crane, driving field, refers in particular to a kind of overhead traveling crane that makes overhead traveling crane, driving realize accurate self-orientation, the three-dimensional Automatic Positioning Control device of driving.
Background technology
In the prior art,, typically use operation manually for the location of overhead traveling crane, driving.If employing is operated manually then following shortcoming is arranged: 1. the positioning action difficulty is big, to technical level of operators and competency profiling height; 2. accuracy of positioning is poor, and because of no position probing, so also driftlessness positioning action value, manual operation often needs to operate several times just and can reach the location; 3. be prone to maloperation, cause the loss (being safety misadventure) of time and mechanical equipment; 4. because can not instant messaging, the dispatcher be difficult to judge overhead traveling crane, driving immediate status, influence scheduling and commander.
The utility model content
The technical problems to be solved in the utility model just is: at the technical matters that prior art exists, providing a kind of can carry out position probing and communicate by letter automatically, realizes overhead traveling crane, the three-dimensional automatic positioning equipment of driving a vehicle of overhead traveling crane, the three-dimensional self-orientation of driving.
In order to solve the problems of the technologies described above, the solution that the utility model proposes is: a kind of overhead traveling crane, the three-dimensional Automatic Positioning Control device of driving a vehicle, described overhead traveling crane, driving is provided with a cart that can move on directions X, the equipment that cart is provided with a dolly that can move in the Y direction and can moves in the Z direction on dolly, it is characterized in that: described device comprises that one be responsible for to collect the various information signals of locomotive and signal handled the centring control part of sending control command, one is responsible for detecting the residing Y of dolly, Z direction position also partly is connected control part on the car that carries out data communication with centring control, and one is used for detecting x direction position and partly is connected the positioning and communicating cable of the row data communication of going forward side by side with centring control, a Y direction that is contained on the cart is used for detecting the positioning and communicating cable of address; Centring control partly links to each other with the positioning and communicating cable by an adaptation, and control part links to each other with another positioning and communicating cable by an impedance matching box on the car; A main control computer is connected by control cabinet in the serial communication interface and in the centring control part; Control part is installed in overhead traveling crane, the driving on the car, its include control housing on the car by serial communication interface be installed in dolly on Z direction absolute type multiturn encoder on the bont S. A. be connected, and one is installed near the directions X positioning and communicating cable place and the second anti-co-channel interference induction antenna case that can be installed on Y direction positioning and communicating cable place on the overhead traveling crane with the first anti-co-channel interference induction antenna case and that overhead traveling crane is together walked and can together walk with dolly on the overhead traveling crane;
Control PLC, address detection device, communicator and power supply during the control cabinet comprises in described, middle control PLC carries out data communication, collection information, sends control command by serial communication interface and main control computer, carries out data communication by PLC on communicator and positioning and communicating cable and the car; Control PLC in delivering to after address detection device is handled address signal under the control of middle control PLC; Communicator carries out the serial data modulated carrier signal that middle control PLC sends to send on the positioning and communicating cable behind the power gain after the modulation, can also receive the signal of communication that the positioning and communicating cable induction arrives, and amplifies, demodulation control plc communication mouth in delivering to;
Control housing comprises PLC on the car on the described car, address detection device, communicator and power supply, PLC is responsible for carrying out data communication with Z direction absolute type multiturn encoder on the car, information on the collecting cart, send the locomotive control instruction, be dealt on the directions X positioning and communicating cable by the communicator and the first anti-co-channel interference induction antenna case and carry out data communication with middle control PLC, address detection device is delivered to PLC on the car after address signal being handled under the control of PLC onboard, the serial data modulated carrier signal of control PLC during communicator can be delivered to PLC on the car, carry out power gain after the modulation, be dealt on the directions X positioning and communicating cable by the first anti-co-channel interference induction antenna case, and can from receiving, the first anti-co-channel interference induction antenna control the data communication modulation signal that PLC sends, amplify demodulation, deliver to PLC on the car, communicator PLC control is onboard passed through the first anti-co-channel interference induction antenna case respectively with the fixed carrier signal down, the second anti-co-channel interference induction antenna case is sent to X, Y direction positioning and communicating cable.
Described centring control part comprises that also a main control computer links to each other and can show the animation computing machine of overhead traveling crane, driving running condition, field conditions and work overall process.Control part can comprise that also one is installed on the read-out with voice prompts on the overhead traveling crane operator's station on the described car.Have somely to line in the described positioning and communicating cable, being divided into communication and using line and address class line two classes, described communication intersects according to certain rules to line, described address to line according to the certain rules layout.The described first anti-co-channel interference induction antenna keeps the distance with the positioning and communicating cable that is installed in overhead traveling crane directions X track next door all the time in whole walking process and is 5-15 centimetre.All the time other positioning and communicating cable keeps the distance and is 5-15 centimetre the described second anti-co-channel interference induction antenna with being installed in Y direction trolley track on the overhead traveling crane in whole walking process.
Principle of work of the present utility model is: realize overhead traveling crane, the three-dimensional self-orientation of driving a vehicle, at first must detect the position of X, Y, three directions of Z; (referring to Fig. 1)
(1) Z direction: deliver to PLC on the car by the instant detected position of absolute type multiturn encoder;
(2) Y direction: the anti-co-channel interference induction antenna of communicator transmission fixed carrier to the second case under the PLC control on the car, Y direction communication location cable receives data by induction, handle by address detection device, deliver to again on the car and draw Y direction present position after the PLC processing;
(3) directions X: PLC sends data to communicator on the car, communicator is modulated data, amplify and send (present position and other signals that contain Y direction and Z direction) earlier to the first anti-co-channel interference induction antenna case, PLC control also sends fixed carrier (the inspection address is used) down to the first anti-co-channel interference induction antenna case and the second anti-co-channel interference induction antenna case onboard again, directions X communication location cable is by data-signal and fixed carrier signal on the induction reception car, after the address detection device isolation, data-signal send the communicator demodulation process to deliver to middle control PLC, delivers to the PLC processing after the fixed carrier signal send address detection device to handle and draws overhead traveling crane, driving directions X position;
Middle control PLC delivers to main control computer with address date and other information datas of X, Y, three directions of Z, just knows overhead traveling crane, driving immediate status information from main control computer.
By main control computer make judge and handle after send data to middle control PLC, middle control PLC delivers to processing data on the cable of directions X communication location by communicator, the first anti-co-channel interference induction antenna case reception data are delivered to by communicator amplification, demodulation and are delivered to PLC on the car, and PLC sends various control signals (as cart traveling, carriage walking, weight lifting etc.) after according to the locomotive current state data of being received being managed on the car.
Compared with prior art; advantage of the present utility model is: the utility model can reach three-dimensional self-orientation; the i.e. position probing of three directions and data communication; thereby improve the management of automatization level and operating procedure, improve level of operation, realize overhauling in advance, increase the service life, stop the randomness of manual operation to the influence of operation, stop safety misadventure; protection locomotive machinery and electric equipment, ensuring safety in production and increasing economic efficiency has crucial meaning, has made on the operational administrative level new step.
Description of drawings
Fig. 1 is a principle of work schematic flow sheet of the present utility model;
Fig. 2 is a structural representation of the present utility model;
Fig. 3 is an Application Example scheme drawing of the present utility model;
Fig. 4 is the utility model communicator circuit diagram:
Fig. 5 is the utility model address detection device circuit diagram one;
Fig. 6 is the utility model address detection device circuit diagram two;
Fig. 7 is the planar development scheme drawing of the utility model positioning and communicating cable;
Fig. 8 is the utility model positioning and communicating cable position probing principle schematic;
Fig. 9 is the anti-co-channel interference antenna of a utility model case circuit theory scheme drawing;
Figure 10 is the anti-co-channel interference antenna of a utility model case electrical block diagram.
The specific embodiment
Below will be described in further detail the utility model as embodiment with the utility model overhead traveling crane, the application of the three-dimensional Automatic Positioning Control device of driving in store management.
As Fig. 1, Fig. 2 and shown in Figure 3, this device is made of three parts: control part, positioning and communicating cable on centring control part, the car.Centring control partly comprises main control computer, animation computing machine, middle control cabinet.Control part comprises control housing on the car, absolute type multiturn encoder, the first anti-co-channel interference induction antenna case, the second anti-co-channel interference induction antenna case, read-out with voice prompts on the car.
1, centring control part
Centring control partly is arranged on storehouse, is the control center of total system.Its effect is to collect each locomotive information and form various control commands according to plan of work and the existing situation of storehouse to command each locomotive work; The various information of record storehouse turnover article; Record stock article kind, size, quantity, weight, deposit position; And form various forms thus, it is constructed as follows:
(1) main control computer
Main control computer: present embodiment uses original-pack Dell business PC, its be configured to P4 1.8G 60GB 256MB VGA-32, join 17 cun color monitors, the management control center of main control computer total system links to each other with middle control PLC by serial communication interface.Its radical function is:
A, layout article turnover plans (can accept upper strata operation supplied materials plan automatically), but also the artificial hand typing is revised.
B, collect various information, comprising:
* the detected various kinds of vehicles of PLC present position (x direction)
* the locomotive state information (containing Y, Z direction position) that sends of various kinds of vehicles
C, various information are analyzed, formed various control commands, assign to each locomotive and command each locomotive work according to plan of work and the existing situation of storehouse.
D, turnover article and stock article are write down, add up, form day, month form.
(2) animation computing machine
The animation computing machine: original-pack Dell business PC, it is configured to P
41.8G 60GB 256MB VGA-32, be furnished with 21 cun color monitors.Its function is:
A, link, carry out data exchange with main control computer by computer network and main control computer;
B, can dynamically show storehouse work overall process;
C, can dynamically show overhead traveling crane running condition:
D, can dynamically show the stock material situation.
(3) control cabinet in
Middle control cabinet can be according to corresponding respectively 2 overhead traveling cranes in the supporting a plurality of identical unit of overhead traveling crane quantity, every unit, driving.Each unit is constructed as follows:
A, PLC:SIMATIC S7-200 type
* data communication
Port one: the RS-485 communication interface is communicated by letter with main control computer.
Plc communication on port 0:RS-485 communication interface and the car (by the communicator modulation).
* position probing
The work of control address detection device, and detect locomotive directions X of living in position thus.
B, address detection device
Address detection device is connected with directions X positioning and communicating cable, and middle control PLC is connected with address detection device with the digital simulation entrance point by digital output point.Under the control of middle control PLC, send to the different signal of address detection device by PLC, make address detection device export different addresses digital and analog signaling to PLC, PLC obtains x direction address after these signals are handled.
C, communicator
Middle control PLC serial communication port links to each other with communicator, and communicator is connected with address detection device by order wire.
* middle control PLC is delivered to the serial data modulated carrier signal of PLC on the car, carry out power gain after the modulation, send from communication cable.
* the data communication modulation signal that PLC sends on the car of accepting on the received communication cable amplifies demodulation, control PLC in delivering to.
D, power supply: Chaoyang 4NIC-K231, oad are Type B 260*180*120
AC220V+10％DC+24V2A/+12V1A/+5V3A
2, control part on the car
Control part is installed on the overhead traveling crane on the car, and its effect is to detect the residing Y of dolly, Z direction position (address), and partly carries out data communication with centring control.Control housing forms the dolly mode of operation collected and detected Y, Z direction address information message and passes to the centring control part on the car; And by resisting the first co-channel interference induction antenna case to receive the order commander overhead traveling crane work that centring control is partly sent.It is constructed as follows:
(1) control housing on the car
A、PLC：SIMATIC?S7-200
* data communication
Port one: PLC RS-485 communication interface links to each other with communicator, carries out data communication.
Port 0:PLC RS-485 communication interface is communicated by letter with Z direction absolute type multiturn encoder.
* position probing
The work of control address detection device, and detect locomotive Y direction of living in position thus.
By the detected Z direction position of port 0:RS-485 communication interface query sensors.
C, address detection device
Address detection device directly links to each other with the positioning and communicating cable, and PLC is connected with address detection device with the analog input point with numeral by digital output point.Under the control of middle control PLC, send to the different signal of address detection device by PLC, make address detection device export different addresses digital and analog signaling to PLC, PLC obtains Y direction address after these signals are handled.
D, communicator
Link to each other with PLC by the RS-485 communication interface, link to each other with the second anti-co-channel interference induction antenna case with the first anti-co-channel interference induction antenna case by wired.
With PLC on the car deliver in the control PLC the serial data modulated carrier signal, carry out power gain after the modulation, send from communication cable.
The data communication modulation signal that control PLC sends from antenna receives amplifies demodulation, delivers to PLC on the car.
Send carrier signal to the first anti-co-channel interference induction antenna case and the second anti-co-channel interference induction antenna case (being used to detect the address).
E, power supply: Chaoyang 4NIC-K231, oad are Type B 260*180*120
AC220V+10％DC+24V2A/+12V1A/+5V3A
(2) absolute type multiturn encoder
Adopt German HEIDENHAIN absolute type multiturn encoder, the Z direction position data of detection is passed to PLC on the car by the RS485 interface.
(3) anti-co-channel interference induction antenna induction antenna case
As shown in figure 10, the structure of antenna case is: L1, L2 are receiving coil, and L3 is for sending coil.L1, L2 are on same plane, and L3 places L1, L2 top, and L1, L2 are apart from positioning and communicating cable 5-15cm.These 2 coils of L1, L2 are identical, i.e. number of turn unanimity, and consistent size, and L1, L2, L3 coil width are 20cm (determining according to the cable preparation method).
As Fig. 9 and shown in Figure 10, its principle analysis is as follows:
A, L1, L2, C1, R1 resonance on receive frequency (80KHz), bandwidth ± 6KHz.
When the positioning and communicating cable produced the useful signal of 80KHz, L1, L2 be because over against the positioning and communicating cable, produces induced electric motive force so can sense than the signal of forceful electric power magnetic; But according to connection L1, the L2 of circuit short circuit in the same way, so the useful signal stack.Useful signal send the demoder demodulation after IC1 amplifies.
When the 80KHz interfering signal in space occurred, because these 2 coils of L1, L2 are identical, and the position of placing also can myopia think identical for remote interference source.So interfering signal is at the induced electric motive force equal and opposite in direction that L1, L2 produced, according to connection L1, the L2 of circuit short circuit in the same way, signal is cancelled out each other, and the interfering signal voltage of delivering to IC1 is 0 (perfect condition), thereby has suppressed co-channel interference.
1. the first anti-co-channel interference induction antenna case
Link to each other with communicator by order wire, near directions X positioning and communicating cable place one first anti-co-channel interference induction antenna case is installed at each overhead traveling crane, the first anti-co-channel interference induction antenna case is together walked with overhead traveling crane, in whole walking process all the time with the positioning and communicating cable that is installed in overhead traveling crane directions X track next door about 5-15cm that keeps the distance, make between induction antenna and the positioning and communicating cable and form electromagnetic induction, thereby reach the induction wireless data communication, and the relevant information that in the positioning and communicating cable, produces position (address).
2. the second anti-co-channel interference induction antenna case
Link to each other with communicator by order wire, near Y direction positioning and communicating cable place one second anti-co-channel interference induction antenna case is installed at dolly, the second anti-co-channel interference induction antenna case is together walked with dolly, in whole walking process all the time with the positioning and communicating cable that is installed in dolly Y direction track next door about 5-15cm that keeps the distance, form electromagnetic induction thereby reach between induction antenna and the positioning and communicating cable, and the relevant information that in the positioning and communicating cable, produces position (address).
(4) read-out
Be installed on the read-out with voice prompts on the overhead traveling crane operator's station.
Show overhead traveling crane related work state.
Associative operation is pointed out.
Shown in the schematic circuit diagram of address detection device as shown in Figure 5 and Figure 6, be to realize isolating and impedance match with the positioning and communicating cable with voltage transformer earlier as can be known, its principle is:
1., the R signal is selected
Under PLC control, by IC6 simulation storbing gate 4051, (R0～R5) carries out gating respectively with the R signal on the positioning and communicating cable, amplify by IC7 TL081 prime, the B2 band-pass filter, level is amplified behind the IC8 TL081, IC9, IC10 biphase rectification, send EM231 AI0 after the filtering, carry out A/D conversion, PLC selects wherein the maximum Ri of signal amplitude as reference signal.And be shaped to square wave by IC12 LM311.
2., thick address detected
Under PLC control, by IC1 simulation storbing gate 4067, (G0～G10) carries out gating respectively with the G signal on the positioning and communicating cable, amplify by IC2 TL081 prime, the B1 band-pass filter, level is amplified behind the IC3 TL081, is shaped to square wave by IC12LM311, compare phase place with the square wave of Ri, carrying out phase place by IC13A CC4070 and differentiate, is 0 according to homophase, and anti-phase is that 1 principle is differentiated, then, send PLC with the result.
3., accurate address detected
Under PLC control, by IC1 simulation storbing gate 4067, the G0 on the positioning and communicating cable, G0 ' signal are carried out gating respectively amplify, biphase rectification send EM231 AI1 after the filtering, carry out the A/D conversion.If the amplitude data of G0, G0 ' are respectively DG0, DG0 '.Then according to following formula calculated address.
If the thick address accurate address=DG0 ' that is even number/(DG0+DG0 ')
If the thick address accurate address=DG0/ that is even number (DG0+DG0 ')
Synthetic address=thick address+accurate address
Shown in the schematic circuit diagram of communicator as shown in Figure 4, its principle of work is:
1. data modulating part
The data-signal that PLC sends here is converted to the Transistor-Transistor Logic level signal and sends into IC101 HC4066 by IC103 MAX485; The oscillator signal that IC104 54S04 produces is also sent into IC101.IC101 outgoing carrier signal, by IC108 54LS393 frequency division, after the IC105 54LS73 phase shift respectively from the P8 of IC105 and P13 pin output two-way modulation signal (frequency be 49KHz on ground 79KHz, the car), phase difference is 90 degree, and this signal directly send power amplifier circuit IC106, IC107 LM3886 to amplify back output.
2. data demodulates part
With the data communication modulation signal that receives by IC401, IC402 TL081 phase shift, summation, amplification after by B401 filtering, filtering signal is sent into IC203 MC1595 after amplifying by IC403 TL081, the multiply each other signal of back output 3.5KHz of the oscillator signal that data carrier signal and IC30154S04 are produced, this signal is sent into IC201 XR2211 after by IC202 TL084 filtering, IC201 is demodulated into data-signal with carrier signal, and this data-signal is undertaken sending into PLC after the level conversion by the IC103 of modulator.
3, positioning and communicating cable section
Comprise in the positioning and communicating cable that one is detected the directions X position and is used for detecting the positioning and communicating cable of address with the positioning and communicating cable of centring control operative data communication and Y direction that is contained on the cart.Have somely in the positioning and communicating cable, being divided into communication and using line and address class line two classes to line.Communication intersects according to certain rules to line, the address to line according to the certain rules layout.After the sheath encapsulation, be installed on one side along overhead crane orbit, length is determined according to the scene.The communication cable sheath is to adopt the advanced disposable press forming of rubber and plastic synthesis material, any surface finish, non junction, pore-free, in light weight.Have fire-retardant, ageing-resistant, cold-resistant, high-temperature stability, be not afraid of rainwater, acid-alkali-corrosive-resisting, especially can prevent sulphur dioxide, UV sunlight, can be for a long time under-20-+80 environment, work.
The positioning and communicating cable is made of cable conductor, core rod and cable sheath.Heart yearn has datum line (R line), order wire (G0, L1) and A wire (G0 line-G9 line).Datum line R does not intersect in whole cut cable, A wire is to work out by the encoding law of Gray code, G0, L1 (not shown) are intersected once every 20cm, and G0, the L1 point of crossing 10cm of being separated by, G1 intersects once every 4P, G2 intersects once every 8P ... G9 only intersects once in whole cut cable, the minimum length of P for relying on cable itself to discern.Plane outspread drawing referring to positioning and communicating cable shown in Figure 7.
Realize overhead traveling crane, the three-dimensional self-orientation of driving a vehicle, at first must detect the position of X, Y, three directions of Z and carry out data communication;
(1) Z direction: deliver to PLC on the car by the instant detected position of absolute type multiturn encoder;
(2) Y direction: the anti-co-channel interference induction antenna of communicator transmission fixed carrier to the second case under the PLC control on the car, Y direction communication location cable receives data by induction, handle by address detection device, deliver to again on the car and draw Y direction present position after the PLC processing;
(3) directions X: PLC sends data to communicator on the car, communicator is modulated data, amplify and send (present position and other signals that contain Y direction and Z direction) earlier to the first anti-co-channel interference induction antenna case, PLC control also sends fixed carrier (the inspection address is used) down to the first anti-co-channel interference induction antenna case and the second anti-co-channel interference induction antenna case onboard again, directions X communication location cable is by data-signal and fixed carrier signal on the induction reception car, after the address detection device isolation, data-signal send the communicator demodulation process to deliver to middle control PLC, delivers to the PLC processing after the fixed carrier signal send address detection device to handle and draws overhead traveling crane, driving directions X position;
Middle control PLC delivers to main control computer with data, just knows overhead traveling crane, driving immediate status information from main control computer.By main control computer make judge and handle after send data and after middle control PLC, middle control PLC processing, deliver to communicator, deliver to the positioning and communicating cable by address detection device again, the first anti-co-channel interference induction antenna case reception data are delivered to the communicator amplification, PLC on the car is delivered in demodulation, and PLC sends control signal (as cart traveling, carriage walking, weight lifting etc.) after handling on the car.
The fixed carrier signal of antenna case emission is received by ground-surface positioning and communicating cable by electromagnetic induction, the R line is a pair of line of parallel lay-up, the signal that receives is as reference signal, G0-G9 has different point of crossings in different positions, its signal that receives is after intersecting through even number, phase place is identical with reference signal, after through the odd number point of crossing, phase place is opposite with the phase place of reference signal, if the address is " 0 " during the regulation same-phase, the address is " 1 " during antiphase, then obtains unique 10 geocoding in a certain position of positioning and communicating cable, this address corresponding and locomotive.Address code referring to G0-G9 among Fig. 8 is: 001 ... 1.Position detection unit converts address code to da rice number, can detect the distance of locomotive from positioning and communicating cable top, thereby obtains the position of locomotive.Sending the communication data carrier wave simultaneously send communicator to amplify demodulation by the reception of positioning and communicating cable.Antenna receives, and receiving wire is near positioning and communicating cable position, and antenna receives the signal that sends in the positioning and communicating cable, delivers to communicator and amplifies demodulation.
Thereby the utility model can reach three-dimensional self-orientation, the i.e. position probing of three directions, data communication and part control, because three directions can be carried out position probing, data communication, position probing aspect: calculate the target positioning operating value easily, according to the speed stage of target positioning value in conjunction with overhead traveling crane, driving, can calculate overhead traveling crane, driving runs to overhead traveling crane, road speed gear and the brake point of this employings in the process of target positioning position, thereby reach three-dimensional accurate location of overhead traveling crane, driving.
By using device of the present utility model, the automatic access management of storehouse can be carried out automatic access control to storehouse turnover article according to the needs that modernization industry is produced, and storehouse article relevant information managed, generate daily sheet, month form of relevant informations such as stock article kind, size, quantity, weight, turnover time automatically.
Claims (6)
1, a kind of overhead traveling crane, the three-dimensional Automatic Positioning Control device of driving a vehicle, described overhead traveling crane, driving can be moved on directions X, car is provided with a dolly that can move in the Y direction and the equipment that can move in the Z direction is arranged on dolly, it is characterized in that: described device comprises that one is responsible for detecting overhead traveling crane, the residing directions X position of driving a vehicle, collect the locomotive information signal and signal handled the centring control part of sending control command, one is responsible for detecting the residing Y of dolly, Z direction position also partly is connected control part on the car that carries out data communication with centring control, and one is used for detecting the directions X position and partly is connected the positioning and communicating cable of the row data communication of going forward side by side with centring control, one is contained in the positioning and communicating cable that is used for detecting Y direction position on the cart; Centring control partly links to each other with the positioning and communicating cable by an address detection device, and control part links to each other with another positioning and communicating cable by an address detection device on the car; A main control computer is connected by control cabinet in the serial communication interface and in the centring control part; Control part is installed in overhead traveling crane, the driving on the car, Z direction absolute type multiturn encoder on it includes the serial communication interface by PLC on the car of control housing on the car and is installed in dolly on the bont S. A. is connected, and another serial communication interface is installed near directions X positioning and communicating cable place by a communicator and one and can be installed on the overhead traveling crane Y direction positioning and communicating cable place with the first anti-co-channel interference induction antenna case and that overhead traveling crane is together walked and can be connected with the second anti-co-channel interference induction antenna case that dolly on the overhead traveling crane is together walked;
Control PLC, address detection device, communicator and power supply during the control cabinet comprises in described, middle control PLC carries out data communication by serial communication interface and main control computer, main control computer is collected information, is sent control command by this serial communication interface, and middle control PLC carries out data communication by PLC on another serial communication interface connection communicator and positioning and communicating cable and the car; Control PLC in delivering to after the address signal that address detection device is collected the positioning and communicating cable under the control of middle control PLC is handled; Communicator carries out the serial data modulated carrier signal that middle control PLC sends to send on the positioning and communicating cable behind the power gain after the modulation, can also receive the signal of communication that the positioning and communicating cable induction arrives, and amplifies, demodulation control plc communication mouth in delivering to;
Control housing comprises PLC on the car on the described car, address detection device, communicator and power supply, on the car PLC have a serial communication interface and Z direction absolute type multiturn encoder carry out data communication with another serial communication interface of information on the collecting cart by communicator with link to each other near the first anti-co-channel interference induction antenna case of directions X positioning and communicating cable, carry out data communication with middle control PLC, the second anti-co-channel interference induction antenna case control of PLC and communicator onboard dynamically sends signal down, Y direction positioning and communicating cable will receive that signal converts address signal to, address detection device is delivered to PLC on the car after address signal being handled under the control of PLC onboard, the serial data modulated carrier signal of control PLC during communicator can be delivered to PLC on the car, carry out power gain after the modulation, be dealt on the directions X positioning and communicating cable by the first anti-co-channel interference induction antenna case, and can from receiving, the first anti-co-channel interference induction antenna control the data communication modulation signal that PLC sends, amplify demodulation, deliver to PLC on the car, communicator PLC control is onboard passed through the first anti-co-channel interference induction antenna case respectively with unmodulated fixed carrier signal down, the second anti-co-channel interference induction antenna case is sent to X, Y direction positioning and communicating cable.
2, overhead traveling crane according to claim 1, the three-dimensional Automatic Positioning Control device of driving is characterized in that: described centring control part also comprises an animation computing machine that links to each other with main control computer.
3, overhead traveling crane according to claim 1, the three-dimensional Automatic Positioning Control device of driving, it is characterized in that: control part can comprise that also one is installed on the read-out with voice prompts on the overhead traveling crane operator's station on the described car.
4, overhead traveling crane according to claim 1, the three-dimensional Automatic Positioning Control device of driving, it is characterized in that: have some in the described positioning and communicating cable line, being divided into communication uses line and address class line two classes, described communication intersects according to certain rules to line, described address to line according to the certain rules layout.
5, overhead traveling crane according to claim 1, the three-dimensional Automatic Positioning Control device of driving is characterized in that: the described first anti-co-channel interference induction antenna keeps the distance with the positioning and communicating cable that is installed in overhead traveling crane directions X track next door all the time in whole walking process and is 5-15 centimetre.
6, overhead traveling crane according to claim 1, the three-dimensional Automatic Positioning Control device of driving is characterized in that: other positioning and communicating cable keeps the distance and is 5-15 centimetre the described second anti-co-channel interference induction antenna with being installed in Y direction trolley track on the overhead traveling crane all the time in whole walking process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420036155 CN2732708Y (en) | 2004-06-11 | 2004-06-11 | Three-dimensional automatic-location control device for travelling cranes and bridge cranes |
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| CN 200420036155 CN2732708Y (en) | 2004-06-11 | 2004-06-11 | Three-dimensional automatic-location control device for travelling cranes and bridge cranes |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100567130C (en) * | 2007-09-28 | 2009-12-09 | 天津理工大学 | Traveling crane positioning system and localization method |
| CN101531328B (en) * | 2008-03-12 | 2011-07-20 | 中国钢铁股份有限公司 | Crane device positioning system |
| CN102267661A (en) * | 2011-05-23 | 2011-12-07 | 北京首钢自动化信息技术有限公司 | Z-axis automatic positioning method for slab yard clamp crown block |
| US8317453B2 (en) | 2008-05-15 | 2012-11-27 | Ray Givens | Compound-arm manipulator |
| CN102942113A (en) * | 2012-11-13 | 2013-02-27 | 岳阳千盟电子有限公司 | Automatic recognizing system of object hoisting of overhead travelling crane |
| CN103910313A (en) * | 2014-04-15 | 2014-07-09 | 山东省科学院海洋仪器仪表研究所 | Travelling system for experiment sink |
| CN105800464A (en) * | 2016-04-29 | 2016-07-27 | 南开大学 | Positioning method based on automatic lifting hook system |
| CN106094650A (en) * | 2016-08-03 | 2016-11-09 | 华北理工大学 | High-speed LEM mover alignment system based on Gray code |
| TWI572550B (en) * | 2015-02-05 | 2017-03-01 | 中國鋼鐵股份有限公司 | Anti-collision crane device |
| TWI572547B (en) * | 2015-02-05 | 2017-03-01 | 中國鋼鐵股份有限公司 | Automatic crane device for loading steel coil and loading method |
| CN106586836A (en) * | 2016-10-26 | 2017-04-26 | 云南云铝涌鑫铝业有限公司 | Aluminum electrolysis multifunctional unit communication system |
| CN106843087A (en) * | 2017-04-05 | 2017-06-13 | 深圳市鑫华威机电设备有限公司 | Traffic control method and system based on coil winding machine |
| CN108190342A (en) * | 2018-02-05 | 2018-06-22 | 佛山砚声智能装备有限公司 | A kind of automatic intelligent folds frame aluminium section bar warehouse |
| CN108303946A (en) * | 2018-01-12 | 2018-07-20 | 杭州钱江称重技术有限公司 | A kind of overhead traveling crane orientation management system applied to ladle |
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2004
- 2004-06-11 CN CN 200420036155 patent/CN2732708Y/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100567130C (en) * | 2007-09-28 | 2009-12-09 | 天津理工大学 | Traveling crane positioning system and localization method |
| CN101531328B (en) * | 2008-03-12 | 2011-07-20 | 中国钢铁股份有限公司 | Crane device positioning system |
| US8317453B2 (en) | 2008-05-15 | 2012-11-27 | Ray Givens | Compound-arm manipulator |
| CN102267661A (en) * | 2011-05-23 | 2011-12-07 | 北京首钢自动化信息技术有限公司 | Z-axis automatic positioning method for slab yard clamp crown block |
| CN102942113A (en) * | 2012-11-13 | 2013-02-27 | 岳阳千盟电子有限公司 | Automatic recognizing system of object hoisting of overhead travelling crane |
| CN102942113B (en) * | 2012-11-13 | 2014-06-25 | 岳阳千盟电子有限公司 | Automatic recognizing system of object hoisting of overhead travelling crane |
| CN103910313A (en) * | 2014-04-15 | 2014-07-09 | 山东省科学院海洋仪器仪表研究所 | Travelling system for experiment sink |
| TWI572550B (en) * | 2015-02-05 | 2017-03-01 | 中國鋼鐵股份有限公司 | Anti-collision crane device |
| TWI572547B (en) * | 2015-02-05 | 2017-03-01 | 中國鋼鐵股份有限公司 | Automatic crane device for loading steel coil and loading method |
| CN105800464A (en) * | 2016-04-29 | 2016-07-27 | 南开大学 | Positioning method based on automatic lifting hook system |
| CN106094650A (en) * | 2016-08-03 | 2016-11-09 | 华北理工大学 | High-speed LEM mover alignment system based on Gray code |
| CN106586836A (en) * | 2016-10-26 | 2017-04-26 | 云南云铝涌鑫铝业有限公司 | Aluminum electrolysis multifunctional unit communication system |
| CN106843087A (en) * | 2017-04-05 | 2017-06-13 | 深圳市鑫华威机电设备有限公司 | Traffic control method and system based on coil winding machine |
| CN108303946A (en) * | 2018-01-12 | 2018-07-20 | 杭州钱江称重技术有限公司 | A kind of overhead traveling crane orientation management system applied to ladle |
| CN108190342A (en) * | 2018-02-05 | 2018-06-22 | 佛山砚声智能装备有限公司 | A kind of automatic intelligent folds frame aluminium section bar warehouse |
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