CN101559904A - Coordination control system for lifting, falling, opening and closing crane grab bucket and control method thereof - Google Patents
Coordination control system for lifting, falling, opening and closing crane grab bucket and control method thereof Download PDFInfo
- Publication number
- CN101559904A CN101559904A CNA2009101070123A CN200910107012A CN101559904A CN 101559904 A CN101559904 A CN 101559904A CN A2009101070123 A CNA2009101070123 A CN A2009101070123A CN 200910107012 A CN200910107012 A CN 200910107012A CN 101559904 A CN101559904 A CN 101559904A
- Authority
- CN
- China
- Prior art keywords
- lifting
- grab bucket
- motor
- grab
- frequency converter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a coordination control system for lifting, falling, opening and closing a crane grab bucket and a control method thereof. The coordination control system comprises a coordination controller for lifting, falling, opening and closing, a lifting-falling frequency converter and an opening-closing frequency converter; the lifting-falling frequency converter supplies power to a lifting-falling motor and the opening-closing frequency converter supplies power to an opening-closing motor; and the coordination controller for lifting, falling, opening and closing respectively controls the lifting-falling motor and the opening-closing motor for coordination work by the lifting-falling frequency converter and the opening-closing frequency converter. The coordination control system leads the lifting-falling motor and the opening-closing motor which work independently in speed mode to be capable of coordinating work under the control of the controller according to an internal working logic, thus ensuring that the crane with the grab bucket does not leak materials in the process of closing the grab bucket, grabbing materials and lifting, the motor load is balance, the steel wire rope and the motor is not overload and production accidents does not occur; in addition, the coordination control system also can reduce the labor intensity of crane operators.
Description
[technical field]
The present invention relates to lifting technique, especially a kind of crane grab lifting and switching coordinated control system and control method thereof.
[background technology]
Existing grab crane system, its main drive motor (grab bucket opens and closes motor, grab bucket lifting motor) adopts rotor loop serial-resistance speed-regulation mode of operation (as Fig. 1), in the heavy process of grabbing, hoisting of grab crane, the situation of discontinuity appears in grab bucket lifting, switching electrical motor easily, need the crane operation worker to open and close the elasticity of steel rope, and grasp the opportunity that the grab bucket lifting motor puts into operation by experience crawl adjustment grab bucket lifting and grab bucket.If grasp badly, the steel rope that opens and closes motor as grab bucket is too loose, easily causing grab bucket to leak material; As the steel rope of the lifting motor of grabbing bucket pine too, then grab bucket opens and closes the independent stressed overload of motor, causes motor damage or wire cable rupture easily and causes the accident.This operating process requires the crane operation instrument that abundant operating experience and superb operation skill are arranged, and needs the crane operation worker to concentrate, and labour intensity is big.
[summary of the invention]
The technical problem to be solved in the present invention provides a kind of easy operating, can ensure the crane grab lifting and switching coordinated control system of production safety.
Another technical matters that the present invention will solve provides a kind of easy operating, can ensure the crane grab lifting and the control method that opens and closes coordinated control system of production safety.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is, a kind of crane grab lifting and switching coordinated control system, comprise that grab bucket, manual mode controller, grab bucket elevating motor, grab bucket open and close electrical motor, also comprise lifting and open and close tuning controller, elevating motor frequency converter and open and close electric motor frequency converter, described elevating motor frequency converter is to the power supply of grab bucket elevating motor, and described switching electric motor frequency converter opens and closes the electrical motor power supply to grab bucket; Described manual mode controller is to lifting and open and close the instruction of tuning controller input action, and lifting and switching tuning controller are controlled grab bucket elevating motor and the co-ordination of grab bucket switching electrical motor respectively by elevating motor frequency converter, switching electric motor frequency converter.
Above-described crane grab lifting and switching coordinated control system, described lifting comprises peripheral signal input circuit and programmable controller with the switching tuning controller.
Above-described crane grab lifting and switching coordinated control system, the closed sensing device of grab bucket is housed in described grab bucket, the closed sensing device of described grab bucket sends the lifting signal to lifting and switching tuning controller when grabbing bucket near complete closure or complete closure.
Above-described crane grab lifting may further comprise the steps with the technical scheme that opens and closes the coordinated control system control method:
A. according to the grab bucket close commands, grab bucket opens and closes motor start-up and presses speed control mode work, closed grab bucket; When the torque that opens and closes electrical motor reached setting value, grab bucket opened and closed the electrical motor rev down, by the rotary speed working that is lower than given speed;
B. promote order according to grab bucket, the grab bucket elevating motor starts and works under the torque master mode, promotes grab bucket;
C. two motor speed unanimities, torque balance promotes grab bucket jointly.
Above-described control method, in step b, after the grab bucket elevating motor started, the torque given value of grab bucket elevating motor frequency converter opened and closed the electric motor frequency converter reading and sending to the elevating motor frequency converter of grabbing bucket by lifting and switching tuning controller from grab bucket.
Above-described control method in step a, when the torque that opens and closes electrical motor when grab bucket reaches setting value, reduces the rotating speed that grab bucket opens and closes electrical motor according to the further increase of torque gradually, and the reduction of speed amplitude is not more than 30% of rated speed of rotation.
Above-described control method, the closed sensing device of grab bucket is housed in the grab bucket of described crane grab lifting and switching coordinated control system, the closed sensing device of described grab bucket is when grabbing bucket near closed fully or complete closure, send the lifting signal to lifting with opening and closing tuning controller, start the grab bucket elevating motor.
Crane grab lifting of the present invention with open and close in the coordinated control system lifting with open and close tuning controller make work alone originally in the lifting motor of velocity mode and open and close motor can control at this controller under according to a built-in work-based logic co-ordination, thereby guaranteed that grab crane does not leak material, motor load balance, steel rope and motor nonoverload in closing bucket material grasping and lifting process, industrial accident can be do not occurred, crane operation worker's labour intensity can also be reduced.
[description of drawings]
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Fig. 1 is the schematic diagram of lifting of prior art crane grab and switching control system.
Fig. 2 is the embodiment of the invention 1 crane grab lifting and the schematic diagram that opens and closes coordinated control system.
Fig. 3 is the embodiment of the invention 1 crane grab lifting and the workflow diagram that opens and closes coordinated control system.
Fig. 4 is the embodiment of the invention 2 crane grab liftings and the workflow diagram that opens and closes coordinated control system.
[specific embodiment]
The principle of crane grab lifting of the present invention and switching coordinated control system embodiment 1 as shown in Figure 2.Lifting and switching tuning controller are mainly by peripheral signal input circuit, programmable controller.The peripheral signal input circuit is used to receive the control signal that is sent by the crane operation handle; The built-in grab crane operation logic of programmable controller, receive the action command that operating handle sends by the peripheral signal input circuit, then according to the requirement of action command, and by serial communication and switching motor, the lifting motor frequency converter carries out the current operating data of data exchange acquisition frequency converter and (comprises motor speed, motor torque, real data such as frequency converter mode of operation), automatically judge halliard and open and close the state of restricting, then according to action logic shown in Figure 3, send control commands such as changing rotating speed or change torque to frequency converter, the operation of lifting motor and switching motor is well coordinated.Realize the grab crane lifting and open and close the required logic control function of co-operative control.Lifting with open and close tuning controller make work alone originally in the lifting motor of velocity mode and open and close motor can control at this controller under according to a built-in work-based logic co-ordination, thereby guaranteed that grab crane does not leak material, motor load balance, steel rope and motor nonoverload in closing bucket material grasping and lifting process, industrial accident can be do not occurred, crane operation worker's labour intensity can also be reduced simultaneously.
Crane grab lifting of the present invention and the working process that opens and closes coordinated control system embodiment 1 be as shown in Figure 3:
Grab crane promotes the operation initial stage at material grasping, and the steel rope of switching and lifting all loosens, and whole grab bucket is opened drop on the stockpile;
During the beginning material grasping, the operative employee sends the grab bucket close commands by operating handle, the switching motor brings into operation, opening and closing steel rope begins slowly to tighten up, grab bucket begins to close the bucket material grasping, opening and closing electric motor load torque increases gradually, after torque reaches certain value (this value is set according to the torque rating size of load motor), controller reduces gradually according to the increase gradually of torque and opens and closes rotating speed of motor (general reduction of speed amplitude be not higher than rated speed of rotation 30%), and automatically the mode of operation of lifting motor frequency converter is switched to the torque master mode by speed control mode;
After the operative employee observes the basic closure of grab bucket, operation lifting motor operating handle, send and promote order, lifting motor starts also and is operated under the torque master mode, the torque given value of lifting motor frequency converter by controller from opening and closing motor frequency conversion device reading and sending to the lifting motor frequency converter.At this moment, because lifting wire rope is loose, lifting motor can rapid raising speed to rated speed of rotation move.Be lower than given speed because open and close the running velocity of motor this moment, therefore the velocity contrast of two motors will cause lifting wire rope more and more tighter, the torque of lifting motor is also increasing, and simultaneously, the torque that opens and closes motor reduces gradually, speed increases to given rotating speed gradually.When lifting motor torque and switching motor torque are in a basic balance, the rotating speed of lifting motor is also got back to given rotating speed, (torque is identical to make lifting motor and torque that opens and closes motor and rotating speed all reach balance, speed synchronization), on average share the grab bucket load, grab bucket remains at closure state in uphill process, the phenomenon that leakage is expected, the steel rope degree of tightness differs no longer occurs.
Crane grab lifting of the present invention is with principle that opens and closes coordinated control system embodiment 2 and the difference of working process and embodiment 1, the closed sensing device of grab bucket is housed in the grab bucket of crane grab lifting and switching coordinated control system, grab bucket closed sensing device when grabbing bucket near closed fully or complete closure, send the lifting signal to lifting and switching tuning controller, automatically start the grab bucket elevating motor, further reduce crane operation worker's labour intensity, and prevent the generation of accident.
Claims (7)
- A crane grab lifting with open and close coordinated control system, comprise that grab bucket, manual mode controller, grab bucket elevating motor, grab bucket open and close electrical motor, it is characterized in that, comprise lifting and open and close tuning controller, elevating motor frequency converter and open and close electric motor frequency converter, described elevating motor frequency converter is to the power supply of grab bucket elevating motor, and described switching electric motor frequency converter opens and closes the electrical motor power supply to grab bucket; Described manual mode controller is to lifting and open and close the instruction of tuning controller input action, and lifting and switching tuning controller are controlled grab bucket elevating motor and the co-ordination of grab bucket switching electrical motor respectively by elevating motor frequency converter, switching electric motor frequency converter.
- 2. crane grab lifting according to claim 1 and switching coordinated control system is characterized in that, described lifting comprises peripheral signal input circuit and programmable controller with the switching tuning controller.
- 3. crane grab lifting according to claim 1 and switching coordinated control system, it is characterized in that, the closed sensing device of grab bucket is housed in described grab bucket, the closed sensing device of described grab bucket sends the lifting signal to lifting and switching tuning controller when grabbing bucket near complete closure or complete closure.
- 4. described crane grab lifting of claim 1 and the control method that opens and closes coordinated control system is characterized in that, may further comprise the steps:A. according to the grab bucket close commands, grab bucket opens and closes motor start-up and presses speed control mode work, closed grab bucket; When the torque that opens and closes electrical motor reached setting value, grab bucket opened and closed the electrical motor rev down, by the rotary speed working that is lower than given speed;B. promote order according to grab bucket, the grab bucket elevating motor starts and works under the torque master mode, promotes grab bucket;C. two motor speed unanimities, torque balance promotes grab bucket jointly.
- 5. control method according to claim 4, it is characterized in that, in step b, after the grab bucket elevating motor started, the torque given value of grab bucket elevating motor frequency converter opened and closed the electric motor frequency converter reading and sending to the elevating motor frequency converter of grabbing bucket by lifting and switching tuning controller from grab bucket.
- 6. control method according to claim 4, it is characterized in that, in step a, when the torque of grab bucket switching electrical motor reaches setting value, reduce the rotating speed that grab bucket opens and closes electrical motor gradually according to the further increase of torque, the reduction of speed amplitude is not more than 30% of rated speed of rotation.
- 7. control method according to claim 4, it is characterized in that, the closed sensing device of grab bucket is housed in the grab bucket of described crane grab lifting and switching coordinated control system, the closed sensing device of described grab bucket is when grabbing bucket near closed fully or complete closure, send the lifting signal to lifting with opening and closing tuning controller, start the grab bucket elevating motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009101070123A CN101559904A (en) | 2009-04-28 | 2009-04-28 | Coordination control system for lifting, falling, opening and closing crane grab bucket and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009101070123A CN101559904A (en) | 2009-04-28 | 2009-04-28 | Coordination control system for lifting, falling, opening and closing crane grab bucket and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101559904A true CN101559904A (en) | 2009-10-21 |
Family
ID=41218913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2009101070123A Pending CN101559904A (en) | 2009-04-28 | 2009-04-28 | Coordination control system for lifting, falling, opening and closing crane grab bucket and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101559904A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102424328A (en) * | 2011-09-17 | 2012-04-25 | 河南卫华重型机械股份有限公司 | Grab crane and control circuit thereof |
| CN102502410A (en) * | 2011-10-28 | 2012-06-20 | 河南卫华重型机械股份有限公司 | Quick following control method for lifting motor and opening and closing motor of grabbing crane |
| CN102774750A (en) * | 2012-05-21 | 2012-11-14 | 温州合力建设机械有限公司 | Garbage grab bucket crane and anti-swinging control method |
| CN102050390B (en) * | 2009-11-09 | 2013-12-04 | 新乡市中原起重电器厂有限公司 | Contactless control system for grabbing crane |
| CN103771270A (en) * | 2014-01-09 | 2014-05-07 | 苏州汇川技术有限公司 | Bucket closing lifting control system and method of four-rope grab bucket crane |
| CN104477782A (en) * | 2014-12-29 | 2015-04-01 | 大连华锐重工起重机有限公司 | Single-handle electrical control system of transporter grab crane |
| CN103663153B (en) * | 2013-12-10 | 2015-09-02 | 中联重科股份有限公司 | Crane hoisting control method, device and system and crane |
| CN104891342A (en) * | 2015-06-12 | 2015-09-09 | 华电重工股份有限公司 | Lifting switching mechanism as well as method and system for realizing load balancing of lifting switching mechanism |
| CN106115476A (en) * | 2016-08-12 | 2016-11-16 | 武汉港迪电气传动技术有限公司 | The anti-control system opening bucket of a kind of high pedestal jib crane grab bucket |
| CN112249884A (en) * | 2020-10-29 | 2021-01-22 | 北京起重运输机械设计研究院有限公司 | Steel wire rope pre-tightening control device and method of four-rope grab crane |
-
2009
- 2009-04-28 CN CNA2009101070123A patent/CN101559904A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102050390B (en) * | 2009-11-09 | 2013-12-04 | 新乡市中原起重电器厂有限公司 | Contactless control system for grabbing crane |
| CN102424328A (en) * | 2011-09-17 | 2012-04-25 | 河南卫华重型机械股份有限公司 | Grab crane and control circuit thereof |
| CN102502410A (en) * | 2011-10-28 | 2012-06-20 | 河南卫华重型机械股份有限公司 | Quick following control method for lifting motor and opening and closing motor of grabbing crane |
| CN102502410B (en) * | 2011-10-28 | 2014-01-08 | 河南卫华重型机械股份有限公司 | Quick following control method for lifting motor and opening and closing motor of grabbing crane |
| CN102774750A (en) * | 2012-05-21 | 2012-11-14 | 温州合力建设机械有限公司 | Garbage grab bucket crane and anti-swinging control method |
| CN103663153B (en) * | 2013-12-10 | 2015-09-02 | 中联重科股份有限公司 | Crane hoisting control method, device and system and crane |
| CN103771270A (en) * | 2014-01-09 | 2014-05-07 | 苏州汇川技术有限公司 | Bucket closing lifting control system and method of four-rope grab bucket crane |
| CN104477782A (en) * | 2014-12-29 | 2015-04-01 | 大连华锐重工起重机有限公司 | Single-handle electrical control system of transporter grab crane |
| CN104891342A (en) * | 2015-06-12 | 2015-09-09 | 华电重工股份有限公司 | Lifting switching mechanism as well as method and system for realizing load balancing of lifting switching mechanism |
| CN106115476A (en) * | 2016-08-12 | 2016-11-16 | 武汉港迪电气传动技术有限公司 | The anti-control system opening bucket of a kind of high pedestal jib crane grab bucket |
| CN106115476B (en) * | 2016-08-12 | 2018-03-20 | 武汉港迪电气传动技术有限公司 | A kind of anti-control system for opening bucket of high pedestal jib crane grab bucket |
| CN112249884A (en) * | 2020-10-29 | 2021-01-22 | 北京起重运输机械设计研究院有限公司 | Steel wire rope pre-tightening control device and method of four-rope grab crane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101559904A (en) | Coordination control system for lifting, falling, opening and closing crane grab bucket and control method thereof | |
| CN105253776B (en) | Semi-automatic control method of gantry crane | |
| CN103015474B (en) | Energy-saving grab dredger | |
| CN102031929B (en) | PLC (Programmable Logic Controller) controlled variable-frequency piling machine | |
| CN201865109U (en) | Variable-frequency control device of piling machine | |
| CN104128555A (en) | Automatic material pouring device of hot die forging production line | |
| CN204138173U (en) | A kind of four rope grab is automatically heavy grabs device | |
| CN107055316B (en) | A kind of four rope grab crane for big elevating height | |
| CN205544318U (en) | Hoisting machinery matrix energy repayment transmission system | |
| CN102502410B (en) | Quick following control method for lifting motor and opening and closing motor of grabbing crane | |
| CN103663151B (en) | Tower crane and safety control method, equipment and system for double hoisting mechanisms of tower crane | |
| CN207827710U (en) | A kind of supplementary structure avoiding crane pawl bucket wire cable rupture | |
| CN105129682A (en) | Lifting platform control method | |
| CN111977509A (en) | Full-automatic garbage grab bucket crane | |
| CN106115476B (en) | A kind of anti-control system for opening bucket of high pedestal jib crane grab bucket | |
| CN101977015B (en) | Frequency conversion control device of pile hammer | |
| CN205419536U (en) | Solve automatic bottom detection's of crane grab device | |
| CN105356509A (en) | Lifting machinery matrix type energy feedback transmission system | |
| CN210068917U (en) | Vertical automatic quick-opening blind plate | |
| CN104030167A (en) | Electric control system for bridge grabbing crane | |
| CN207608255U (en) | Closed type speed reducer for starting vertical lift closed guard gate's Flood gate | |
| CN201467064U (en) | Variable frequency motor control device | |
| CN205419555U (en) | Many speed of hoist mode control system | |
| CN2743316Y (en) | Angle measuring type single handle grab control system | |
| CN216523056U (en) | Charging hopper device of cupola system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Open date: 20091021 |