CN101417773A - Wireless sensing type rectifying system of rail gantry crane - Google Patents
Wireless sensing type rectifying system of rail gantry crane Download PDFInfo
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- CN101417773A CN101417773A CNA2008102354753A CN200810235475A CN101417773A CN 101417773 A CN101417773 A CN 101417773A CN A2008102354753 A CNA2008102354753 A CN A2008102354753A CN 200810235475 A CN200810235475 A CN 200810235475A CN 101417773 A CN101417773 A CN 101417773A
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- gantry crane
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Abstract
The invention relates to a wireless sensing type rectifying system of rail gantry cranes, which is provided with a rectifying processor arranged in a gantry crane electric chamber and a programmable logic controller, and wireless sensor nodes which are respectively arranged at a rigid leg and a flexible leg of the gantry crane and a rail guardrail and for collecting signals. By using the self-positioning function of the wireless sensor nodes, the positions of the rigid leg and the flexible leg on the rail can be directly detected when the gantry crane is in walking, and the position data is transmitted to the rectifying processor, and the precision goal speeds of the rigid leg and the flexible leg can be obtained by appropriate PID algorithm, and a speed value is transmitted to the programmable logic controller and used as an order value of a driving device or an inverter to control the rotation speeds of the rigid leg and the flexible leg cargo motors, thus realizing the automatic rectification of the gantry crane when in walking.
Description
Technical field
The present invention relates to a kind of wireless sensing type rectifying system of rail gantry crane.
Background technology
Rail gantry crane is widely used in industry spot such as steel mill, harbour, shipyard, and about 600T, span is between 60～180m usually for its crest.Usually require when gantry crane is advanced, just, gentle leg in the position of track alignment difference less than 3/1000ths of span, surpass this restriction, " gnawing rail " phenomenon will take place, track is produced serious wearing and tearing, destruction, even because the crossbeam of the effect damage gauntry crane of shearing, serious meeting causes the fracture of gauntry crane crossbeam.Therefore, when gantry crane is advanced, need the alternate position spike of its firm leg of system for automatically correcting automatic guidance, gentle leg,, ensure commercial production safety to avoid the generation of various infringements.
The present automatic deviation correction technology that gauntry crane adopted roughly has two kinds, a kind of deviation-rectifying system that is based on the angle amplifier, a kind of deviation-rectifying system that is based on pulse coder.Deviation-rectifying system based on the angle amplifier: the angle amplifier is installed in the joint portion of crossbeam and gentle leg, detecting the relative deformation of gentle leg and crossbeam, and carries out the automatic deviation correction of gauntry crane based on this.The major defect of this deviation-rectifying system is that installation complexity and accuracy requirement are very high, and installing has deviation will influence testing result greatly slightly, measures gained result and actual deviation value and nonlinear correspondence relation, and the maintenance of system is relatively more difficult.Reduction procedure based on this technology is also arranged at present, promptly cancel the angle amplifier, changing setting angle into measures spacing, when deviate breaks through stated limit, can trigger spacing like this, produce and report to the police, so that control system realizes safety precautionss such as deceleration, parking, but the defective of this kind mode is the automatic deviation correction in can't realizing advancing.Deviation-rectifying system based on pulse coder: pulse coder is installed in the cargo motor rotating shaft, with the rotating speed of the firm leg of real-time detection, gentle leg, and its conversion is in orbit actual position, realizes the automatic deviation correction of gauntry crane based on this.The defective of this deviation-rectifying system is: one, and there are cumulative errors in coder, and period of service is long more, and error is big more; Two, along with the wearing and tearing of physical construction, transmitting ratio can change, and causes being descended by the position signal accuracy that coder is calculated according to result of a measurement.
Summary of the invention
The invention discloses a kind of easy for installation, correction precision height, and the wireless sensing type rectifying system of rail gantry crane that can be non-maintaining.
The technical solution used in the present invention is: a kind of wireless sensing type rectifying system of rail gantry crane, have the correction treater, the programmable logic controller (PLC) that are installed in the electric room of gauntry crane, also have the wireless sensing node that is used for acquired signal on the firm leg that is separately positioned on gauntry crane, gentle leg and the track guardrail, each wireless sensing node is in same wireless sense network.
Say that further the wireless sensing node on the described track guardrail blocks railing and is provided with at interval by protecting, and is provided with one on the every railing, the spacing of adjacent two railings is 20～30m.
The invention has the beneficial effects as follows: this gauntry crane deviation-rectifying system is easy for installation, and correction precision height does not produce cumulative errors, and can be non-maintaining.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is a structural representation of the present invention.
1. correction treaters, 2. programmable logic controller (PLC)s, 3. wireless sensing nodes among the figure
The specific embodiment
As shown in Figure 1, a kind of wireless sensing type rectifying system of rail gantry crane, it has correction treater 1, the programmable logic controller (PLC) 2 that is installed in the electric room of gauntry crane, also have the sensing node that is used for acquired signal 3 on the firm leg that is separately positioned on gauntry crane, gentle leg and the track guardrail, each sensing node 3 is in same wireless sense network.
By protecting to block wireless sensing node 3 is installed at the firm leg of gauntry crane, gentle leg and track, utilize the self-locating function of wireless sensing net node, when advancing, directly measures gauntry crane its firm leg, gentle leg position in orbit, position data is passed to correction treater 1, obtain the precision target speed of firm leg and gentle leg through suitable pid algorithm, again velocity amplitude is sent to programmable logic controller (PLC) 2, with its instruction numerical value as actuator or frequency converter, controlling the rotating speed of firm leg, gentle leg cargo motor, thus the automatic deviation correction when realizing that gauntry crane is advanced.
Claims (2)
1. the wireless sensing type rectifying system of a rail gantry crane, have the correction treater (1), the programmable logic controller (PLC) (2) that are installed in the electric room of gauntry crane, it is characterized in that: also have the wireless sensing node that is used for acquired signal (3) on the firm leg that is separately positioned on gauntry crane, gentle leg and the track guardrail, each wireless sensing node (3) is in same wireless sense network.
2. the wireless sensing type rectifying system of rail gantry crane according to claim 1, it is characterized in that: the wireless sensing node (3) on the described gauntry crane track guardrail blocks railing and is provided with at interval by protecting, be provided with one on the every railing, the spacing of adjacent two railings is 20～30m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008102354753A CN101417773A (en) | 2008-11-24 | 2008-11-24 | Wireless sensing type rectifying system of rail gantry crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008102354753A CN101417773A (en) | 2008-11-24 | 2008-11-24 | Wireless sensing type rectifying system of rail gantry crane |
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| Publication Number | Publication Date |
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| CN101417773A true CN101417773A (en) | 2009-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNA2008102354753A Pending CN101417773A (en) | 2008-11-24 | 2008-11-24 | Wireless sensing type rectifying system of rail gantry crane |
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| CN (1) | CN101417773A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101639678B (en) * | 2009-08-26 | 2011-05-11 | 株洲天桥起重机股份有限公司 | Electric control synchronization and rectification method of gantry crane and device thereof |
| CN102491175A (en) * | 2011-11-22 | 2012-06-13 | 中船第九设计研究院工程有限公司 | Error correcting method for large-scale gantry crane walking |
| CN102774753A (en) * | 2012-08-10 | 2012-11-14 | 北京中船信息科技有限公司 | GPS-based system and method for rectifying deviation of gantry crane automatically |
| CN102774752A (en) * | 2012-08-10 | 2012-11-14 | 北京中船信息科技有限公司 | Automatic deviation-control system and method for gantry crane based on beidou satellite positioning system |
| CN102963821A (en) * | 2012-11-20 | 2013-03-13 | 上海宏岸港口机械有限公司 | Gantry crane |
| CN103529060A (en) * | 2012-07-04 | 2014-01-22 | 同方威视技术股份有限公司 | Gantry structure used for combination movable type radiation inspection system |
| CN103663150A (en) * | 2012-09-20 | 2014-03-26 | 西门子工厂自动化工程有限公司 | Synchronous correction method for cart of gantry crane, and related system of method |
| CN104326242A (en) * | 2014-09-05 | 2015-02-04 | 昆明七零五所科技发展总公司 | Method and device thereof for controlling running direction of rail guide vehicle |
| CN105438998A (en) * | 2014-09-26 | 2016-03-30 | 上海海镭激光科技有限公司 | Rubber-tired crane walking positioning and deviation rectifying anticollision method |
| CN105883625A (en) * | 2014-09-26 | 2016-08-24 | 上海海镭激光科技有限公司 | Method for rectification of tyre crane walking and prevention of tyre crane collision on road |
-
2008
- 2008-11-24 CN CNA2008102354753A patent/CN101417773A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101639678B (en) * | 2009-08-26 | 2011-05-11 | 株洲天桥起重机股份有限公司 | Electric control synchronization and rectification method of gantry crane and device thereof |
| CN102491175A (en) * | 2011-11-22 | 2012-06-13 | 中船第九设计研究院工程有限公司 | Error correcting method for large-scale gantry crane walking |
| EP2871466A4 (en) * | 2012-07-04 | 2016-03-02 | Nuctech Co Ltd | Gantry structure for use in assembled mobile radiation inspection system |
| CN103529060A (en) * | 2012-07-04 | 2014-01-22 | 同方威视技术股份有限公司 | Gantry structure used for combination movable type radiation inspection system |
| US9453935B2 (en) | 2012-07-04 | 2016-09-27 | Nuctech Company Limited | Gantry configuration for combined mobile radiation inspection system |
| CN103529060B (en) * | 2012-07-04 | 2015-11-25 | 同方威视技术股份有限公司 | For the gantry structure of combination moving type radiation checking system |
| CN102774753A (en) * | 2012-08-10 | 2012-11-14 | 北京中船信息科技有限公司 | GPS-based system and method for rectifying deviation of gantry crane automatically |
| CN102774752A (en) * | 2012-08-10 | 2012-11-14 | 北京中船信息科技有限公司 | Automatic deviation-control system and method for gantry crane based on beidou satellite positioning system |
| CN102774753B (en) * | 2012-08-10 | 2015-05-13 | 北京中船信息科技有限公司 | GPS-based system and method for rectifying deviation of gantry crane automatically |
| CN102774752B (en) * | 2012-08-10 | 2015-05-13 | 北京中船信息科技有限公司 | Method for automatic deviation-control system for gantry crane based on beidou satellite positioning system |
| CN103663150A (en) * | 2012-09-20 | 2014-03-26 | 西门子工厂自动化工程有限公司 | Synchronous correction method for cart of gantry crane, and related system of method |
| CN102963821A (en) * | 2012-11-20 | 2013-03-13 | 上海宏岸港口机械有限公司 | Gantry crane |
| CN104326242A (en) * | 2014-09-05 | 2015-02-04 | 昆明七零五所科技发展总公司 | Method and device thereof for controlling running direction of rail guide vehicle |
| CN104326242B (en) * | 2014-09-05 | 2017-02-01 | 昆明七零五所科技发展总公司 | Method and device thereof for controlling running direction of rail guide vehicle |
| CN105438998A (en) * | 2014-09-26 | 2016-03-30 | 上海海镭激光科技有限公司 | Rubber-tired crane walking positioning and deviation rectifying anticollision method |
| CN105883625A (en) * | 2014-09-26 | 2016-08-24 | 上海海镭激光科技有限公司 | Method for rectification of tyre crane walking and prevention of tyre crane collision on road |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
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Open date: 20090429 |