KR0132376B1 - Device and method for transmitted position in crane - Google Patents

Abstract

Disclosed is a sensing apparatus of travelling crane. This apparatus includes pulse transmitter(1) installed on idling wheel and generates pulse whenever the crane is operated, magnet operating limit switch(2) which senses the situation of magnets(6) and send the message to PLC, absolute encoder(3) installed in cable reel measures absolute situation of the crane in the error range of +1 or -1.00H in marxism limit covering travelling section of the crane, PLC(4) which compensates measured and accumulated errors automatically by receiving signals from the pulse transmitter(1), the magnet operating limit switch(2) and the encoder(3). Thereby, it is possible to perceive the accurate travelling position of crane, and compensate measured and accumulated errors automatically. And it prevent arising of errors caused by incorrect revision, and makes the crane move accurately. So driverless driving of crane is possible.

Description

Crane driving position detection device and detection method

1 is a view of the running portion of the crane, (a) is a front view, (b) is a rear view, (c) is a side view,

2 is a block diagram of an apparatus of the present invention

3 is a drawing of installing a pulse transmitter

4 is a drawing of installing an ABSOLUTE encoder

5 is a front view and a side view of the pulse transmitter,

6 is a front view and a side view of an absolute encoder.

7 is a perspective view of one embodiment of a magnet operated limit switch

* Explanation of symbols for main parts of the drawings

1 pulse transmitter 2 magnet operated limit switch

3: absolute encoder 4: PLC (PLC)

6: magnet

The present invention relates to a device and a detection method for detecting the exact position of the crane is installed in the running portion of the container crane and the container yard rail running crane of the dock loading facility.

According to the present invention, the rapid increase in the capacity of container wharf is achieved due to the increase of global traffic volume, and the exact position of the crane is detected for the automation of port facility operation, efficiency and configuration of the central control monitoring system as the automation of the wharf operation and the sanctuary are required. The device is to be devised as required, and the purpose is to achieve the automation of port facilities by mounting and applying the device and method to the crane to detect the precise position of the crane.

According to the method of the present invention, a pulse transmitter mounted on an IDLING WHEEL of a crane traveling part converts a mechanical displacement according to a crane's running into a large amount of pulses, and inputs the digital input board of the PLC to a digital input board. It uses the principle of calculating and processing the pulse in the positioning process board and converting it to the movement distance and position signal of the crane and transmitting it to the control center on the ground through the optical cable.

At this time, in order to minimize the detection error, the pulse transmitter is mounted on the idling wheel which hardly slips the wheel when driving and stopping the crane as shown in FIG.

With reference to the accompanying drawings, the crane driving position detection apparatus and the detection method according to the present invention will be described in detail below.

Crane traveling position detection apparatus according to the present invention is mounted on the idling wheel is driven when the crane travels, the pulse transmitter (1) for generating a pulse, the position of the magnet 6 embedded at a predetermined interval on the driving path PLC Absolute encoder (3) mounted on the magnet operating limit switch (2) and the cable real (transmitted to the cable real) to measure the absolute position of the crane in the error range of up to ± 1.00M along the entire driving section of the crane, And a PLC (4) for receiving and calculating a signal generated by the pulse transmitter (1), the magnet operating limit switch (2) and the absolute encoder (3) to automatically compensate for the measurement error and the accumulated error.

The pulse transmitter (1) is the number of pulses per revolution more than 500 PULSE, the incremental type (in cremental type), two channels, made of 2TWISTED PAIRS SHIELDED CABLE, the absolute encoder (3) is a multi-turn MULTI-TURN TYPE, 12-bit, consisting of 12 TWISTED PAIRS SHIELDED CABLE, wherein the magnetically operated limit switch 2 has a signal of DRY CONTACT (INC + INO) and a cable of CVV 2C X 2SQ CABLE The maximum speed is 300M / MIN, the operating temperature is 70 ℃, the lowest -25 ℃, the operating error is ± 0.25mm, and the vibration resistance is 50g.

The PLC (4) is a pulse transmitter mounted on the crane driving idler wheel converts the mechanical displacement according to the crane traveling into a large number of pulses to be input to the digital input board of the PLC and to calculate the pulse in the position processing board Converts to crane moving distance and position signal.

The PLC (4) has a limit switch (2) on the crane and the ground in which the crane structural deformation, wheel slippage, wheel wear, or errors caused by TRACKING TOLERANCE between the rail and the wheel, and accumulated errors are installed on the crane. Using the magnet 6 installed, it automatically compensates the values stored in the PLC register and has a first compensation step that compensates for measurement and cumulative errors.

For example, the magnet operated limit switch detects the magnet and inputs a signal to the PLC even if the measured value at the pulse transmitter is 9.990M or 10.012M when passing through the magnet installed at the 10M position of the crane. At the moment the PLC is automatically converted to 10.000M, the value embedded in the register.

In addition, if the magnet operation limit switch is covered by an object blocking the magnetic field, it cannot detect the magnet installed on the ground, and if it detects the next magnet after passing it, the Absolute encoder is installed on the cable reel in order to prevent wrong compensation with error of 10M. The absolute position of the crane is measured with an error range of up to ± 1.000M along the entire driving section of the crane, and automatically compensates to the value closest to the value measured by the absolute encoder of the cable reel when a magnetic sensing signal is input. (2nd compensation stage)

In other words, if the magnet operation limit switch cannot detect the magnet installed in the 10M position for some reason and then detect the magnet installed in the 20M position, it is the first magnet detection signal to prevent the automatic conversion to 10.000M instead of 20.000M. If the absolute position of the crane measured by the absolute encoder of the reel is 19.350M, the nearest value is 20.000M.

In addition, if the difference between the position of the crane measured by the pulse transmitter installed in the driving part and the value embedded in the PLC register according to the magnet detection is more than 0.150M, it is regarded as a system fault (SYSTEM FAULT) and an alarm signal is sent to the driver to check the device. (Tertiary compensation stage)

As described above, the crane driving position detecting device and the detecting method according to the present invention detect the precise driving position of the crane and automatically compensate for the measurement error and the cumulative error, and prevent the error caused by the wrong correction in advance to correct the operation. This makes it possible to achieve unmanned operation of the crane, enabling automation.

Claims (1)

A magnet operating limit switch mounted on an idling wheel and driven when the crane is driven and generating a pulse and detecting the position of the magnet 6 buried at a predetermined interval on the driving path and transmitting it to the PLC 4 ( 2) Absolute encoder (3), the pulse transmitter (1), the magnet operated limit switch (2) mounted on a cable reel to measure the absolute position of the crane in a certain error range along the entire driving section of the crane And a PLC (4) for receiving and processing the signals generated by the absolute encoder (3) and automatically compensates for the measurement error and the accumulated error (4) 2. The first compensation step of automatically compensating the measurement error and cumulative error to the value stored in the PLC (4) register by using the limit switch (2) installed on the crane and the magnet (6) installed on the ground; A second compensation step of automatically measuring the absolute position of the crane along the entire driving section of the crane and automatically compensating the value closest to the value measured by the absolute encoder 3 of the cable reel when a magnetic sensing signal is input; When the difference between the crane position measured by the pulse transmitter (1) and the value embedded in the PLC register according to the magnet detection is more than the allowable value, the driving position detection method of the crane, characterized in that the third compensation step of sending an alarm signal to the driver