CN104692245A - Automatic correction system and method for traveling of gantry crane - Google Patents
Automatic correction system and method for traveling of gantry crane Download PDFInfo
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- CN104692245A CN104692245A CN201510020100.5A CN201510020100A CN104692245A CN 104692245 A CN104692245 A CN 104692245A CN 201510020100 A CN201510020100 A CN 201510020100A CN 104692245 A CN104692245 A CN 104692245A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/16—Travelling gear incorporated in or fitted to trolleys or cranes with means for maintaining alignment between wheels and track
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Abstract
The invention relates to a correction system and method mainly used for a large-span gantry crane and particularly relates to an automatic correction system and method for traveling of a gantry crane. The automatic correction system comprises an encoder group, a programmable controller, a traveling motor for driving traveling mechanisms of rigid legs and flexible legs of the gantry crane and a frequency converter for controlling the traveling motor, wherein the encoder group is connected with the programmable controller, and the frequency converter is connected with the traveling motor. Therefore, the automatic correction system has the advantages that (1) the automation degree is high, and automatic correction can be realized without need of artificial intervention; (2) the error correction accuracy is high, the deviation degree can be accurately detected by utilizing the encoder group, the traveling motor is driven by the frequency converter to carry out accurate adjustment, simultaneously, the slipping phenomenon of the low-speed ends of traveling wheel groups can be found in time, and corresponding adjustment can be made; and (3) the application scope is wide, the deformation of a traveling track of a cart and the whole deflection of the cart can be judged and error operation can be prevented.
Description
Technical field
The present invention relates to a kind of deviation-rectifying system and method, be mainly used in large span door machine, be specifically related to a kind of door machine traveling system for automatically correcting and method.
Background technology
Transfer crane is the visual plant in the production of units transports such as construction, factory, port and pier.Transfer crane determines in its cart walking process due to structural rigidity, and two side door leg traveling speeds certainly exist deviation, and this deviation, when running up to a certain degree, can cause cart wheel and cart orbit sidewall to extrude, cause the generation of " gnawing rail ".Serious " gnawing rail " damages wheel or rail; Track climbed up by cart wheel, causes the generation of safety misadventure, had a strong impact on normal production.Gantry cart traveling automatic deviation correction technology must be used widely for this reason.
At present, existing gantry cart traveling automatic deviation correction technology has manual intervention processing method and the method for correcting error based on detection wheel.
Manual intervention processing method arranges opto-electronic pickup at cart two side door leg, illuminator is arranged on firm leg vehicle frame, scale is arranged on soft leg vehicle frame, the light that illuminator sends is irradiated on scale, carried out the deflection situation of artificial judgment cart according to the facula position on scale by driver, when deflecting into a certain degree, manual operation one side door leg runs to eliminate deviation.The method operation sheet side door leg easily causes distortion and the distortion of physical construction, produce harm to equipment, the light of illuminator is easily blocked by the weight on suspension hook in addition, so that driver cannot judge and process in time, observe scale and disperseed driver's energy, easily cause the generation of safety misadventure.
Based on detecting the method for correcting error of wheel at the other installation and measuring wheel of cart both sides wheels, detect on wheel and coder is installed, detect wheel and rail contacts side surfaces, coder rotates with the swing detecting wheel fixed link, when large vehicle frame generation deflection, detect wheel fixed link can swing, this signal feedback to controller, is sent correction by controller and controls by coder.The method amesialityly cannot to judge the distortion of cart walking track, cart are overall, easily produces maloperation, has a strong impact on rectifying effect.
For these reasons, be easy to use in the urgent need to developing one, the system for automatically correcting that rectifying effect is good and method.
Summary of the invention
The present invention mainly solves the technical matters existing for prior art, provides a kind of deviation-rectifying system and method.Adopt this deviation-rectifying system and method, without the need to manual intervention operation, and can judge the distortion of cart walking track, cart entirety deflection, good rectifying effect can be obtained.
Above-mentioned technical matters of the present invention is mainly solved by following technical proposals:
A kind of door machine traveling system for automatically correcting, comprise: coder group, Programmable Logic Controller, for the running motor of the firm leg of driving gate machine and soft leg running mechanism, for controlling the frequency converter of described running motor, described coder group is connected with Programmable Logic Controller, and described frequency converter is connected with described running motor;
Wherein, described coder group comprises: absolute value encoder group, and the low speed end being arranged in the firm leg of a machine and soft leg traveling wheels is had the records of distance by the log on wheel, for obtaining the firm leg of a machine and soft leg wheels are distance travelled; Incremental encoder group, is arranged in the firm leg of a machine and soft leg running motor speed end, for obtaining the traveling pulse count of the firm leg of a machine and soft leg running motor; Flexible strand absolute value encoder, is arranged in the flexibility strand above the soft leg of a machine, for obtaining the Accumulated deviation cumulative data produced in a machine traveling process;
Described Programmable Logic Controller comprises: for reading the high speed counting module of the incremental encoder group pulse number in the firm leg of a machine and soft leg running motor speed end, this high speed counting module, is arranged together as the load module of Programmable Logic Controller and Programmable Logic Controller.
Optimize, in above-mentioned a kind of door machine traveling system for automatically correcting, described absolute value encoder group comprises: just leg absolute value encoder, and the low speed end being arranged in a machine firm leg traveling wheels is had the records of distance by the log on wheel, distance travelled for obtaining a machine firm leg wheels; Soft leg absolute value encoder, the low speed end being arranged in a machine soft leg traveling wheels is had the records of distance by the log on wheel, distance travelled for obtaining a machine soft leg wheels;
Described incremental encoder group comprises: just leg incremental encoder, is arranged in firm leg running motor speed end, for obtaining the traveling pulse count of the firm leg motor of cart; Soft leg incremental encoder, is arranged in soft leg running motor speed end, for obtaining the traveling pulse count of the soft leg motor of cart.
Optimize, in above-mentioned a kind of door machine traveling system for automatically correcting, also comprise the sensor group be connected with described Programmable Logic Controller, described sensor group comprises and is arranged at intervals at a magnetic induction sensor battle array in the middle of machine walking track with fixed range, be arranged in the magnetic induction receptor walked on driving frame between the firm leg of a machine and soft leg, wherein, described magnetic induction sensor battle array comprises: be arranged in the firm leg magnetic induction sensor in the middle of firm leg walking rails with described fixed range interval, the soft leg magnetic induction sensor in the middle of soft leg walking rails is arranged in described fixed range interval.
Utilize said system to carry out a method that machine traveling is rectified a deviation, comprising:
Distance detecting step, utilizes the low speed end of the firm leg of door machine and soft leg traveling wheels to have the records of distance by the log and takes turns the synchronized operation of drive absolute value encoder group, distance travelled according to the wheels of the described absolute value encoder difference firm leg of real-time detecting gate machine and soft leg; Distance correction step, compares firm leg and the distance travelled size of soft leg wheels that distance detecting step obtains, adjusts firm leg or soft leg traveling speed according to comparative result; Wherein, described distance correction step comprises further:
Mathematic interpolation sub-step, calculate the wheels of the firm leg of door machine and soft leg distance travelled between the distance travelled difference of wheels, the distance travelled difference of described wheels calculates based on formula △ L=|LG-LR|, wherein: △ L is the distance travelled differences of wheels, LG is that firm leg wheels are distance travelled, and LR is that soft leg wheels are distance travelled;
Adjustment judges sub-step, if the distance travelled difference of described wheels is greater than the deviation adjusting preset start thresholding, then execution speed adjustment sub-step stops thresholding until the distance travelled difference of described wheels meets the deviation adjusting preset;
Speed adjustment sub-step, compares the size that the distance travelled and soft leg wheels of firm leg wheels of a machine are distance travelled, according to the comparative result adjustment firm leg of door machine and/or soft leg traveling speed.
Optimize, above-mentioned door machine traveling is rectified a deviation method, also comprise, described speed adjustment sub-step is: compare the size that the distance travelled and soft leg wheels of firm leg wheels of a machine are distance travelled, if LG<LR, then reduce the soft leg speed of door machine, if LG > is LR, then improve soft leg speed.
Optimize, above-mentioned door machine traveling is rectified a deviation method, also comprise: cumulative departure calculation procedure, being twisted by the flexibility above the soft leg of door machine drives flexible strand absolute value encoder to rotate, and the signal that Programmable Logic Controller reads poly-described flexibility strand absolute value encoder is gone forward side by side the cumulative departure that row operation process obtains producing in the firm leg of a machine and soft leg traveling process; Further, the described deviation adjusting in described speed adjustment sub-step stops thresholding to be: △ L≤L0 and LADD≤LNJ, and wherein LADD is the cumulative departure obtained in cumulative departure calculation procedure, L0 and LNJ is the constant preset.
Optimize, above-mentioned door machine traveling is rectified a deviation method, also comprises: interval detecting step, is that the correction adjustment of multiple same distance is interval by door machine walking division of period orbit, detects correction adjustment residing for the machine of Qianmen interval in door machine walking process; Distance calculation procedure, Programmable Logic Controller carries out according to the motor rotation impulse singla that incremental encoder detects the motor travel distance that calculation process obtains the firm leg of a machine and soft leg running motor; Skidding treatment step, compare that the wheels of the firm leg of a machine and soft leg are distance travelled walks distance with motor respectively, if | LG-LGG| > LMAX or | LR-LRG| > LMAX, stops described distance correction step until when door machine enters next correction adjustment interval in current correction adjustment is interval, thus mis-information when skidding is used for process of rectifying a deviation by anti-locking system, and then ensure that the precision of correction.
Wherein, play skidding process to be used for preventing low speed end absolute value encoder from " skidding " phenomenon occurring, skidding refers to: rail is after running after a while, can there is distortion etc. in portion, cause wheel through this position, the situation occurring idle running or do not turn, after there is this situation, just there is mistake in the count value of low speed end absolute value encoder, if PLC carries out correction process with this value, and the result that can lead to errors.
Therefore, tool of the present invention has the following advantages: 1. degree of automation is high, without the need to manual intervention, can realize automatic deviation correction; 2. error correction precision is high, utilizes the accurate detection error degree of coder group, and carries out accurate adjustment by transducer drive movable motor, simultaneously can " skidding " phenomenon of Timeliness coverage traveling wheels low speed end, and makes corresponding adjustment; 3. applied range, can judge distortion and the cart entirety deflection of cart walking track, prevent maloperation.
Accompanying drawing explanation
Fig. 1 is present system schematic diagram.
Fig. 2 is the present invention's machinery and electric part schematic diagram.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.In figure,
Embodiment:
See Fig. 1, a kind of door machine traveling system for automatically correcting, comprising: coder group, Programmable Logic Controller, for the running motor of the firm leg of driving gate machine and soft leg running mechanism, for controlling the frequency converter of described running motor, sensor group.Wherein, coder group, sensor group are connected with Programmable Logic Controller, and frequency converter is connected with described running motor.
The coder group of the present embodiment comprises absolute value encoder group, incremental encoder group and flexible strand absolute value encoder.Absolute value encoder group, the low speed end being arranged in the firm leg of a machine and soft leg traveling wheels is had the records of distance by the log on wheel, for obtaining the firm leg of a machine and soft leg wheels are distance travelled; This absolute value encoder group comprises: just leg absolute value encoder, and the low speed end being arranged in a machine firm leg traveling wheels is had the records of distance by the log on wheel, distance travelled for obtaining a machine firm leg wheels; Soft leg absolute value encoder, the low speed end being arranged in a machine soft leg traveling wheels is had the records of distance by the log on wheel, distance travelled for obtaining a machine soft leg wheels; Incremental encoder group, is arranged in the firm leg of a machine and soft leg running motor speed end, for obtaining the traveling pulse count of the firm leg of a machine and soft leg running motor; This incremental encoder group comprises: just leg incremental encoder, is arranged in firm leg running motor speed end, for obtaining the traveling pulse count of the firm leg motor of cart; Soft leg incremental encoder, is arranged in soft leg running motor speed end, for obtaining the traveling pulse count of the soft leg motor of cart.Flexible strand absolute value encoder, is arranged in the flexibility strand above the soft leg of a machine, for obtaining the Accumulated deviation cumulative data produced in a machine traveling process.
Programmable Logic Controller comprises high speed counting module, and this high speed counting module is arranged together, for reading the incremental encoder group pulse number in firm leg and soft leg running motor speed end as the load module of Programmable Logic Controller and Programmable Logic Controller.
Shown in figure 2, the machinery of the present embodiment and electric part schematic diagram, comprise be arranged in firm leg traveling wheels low speed end have the records of distance by the log wheel absolute value encoder 1, be arranged in soft leg traveling wheels low speed end have the records of distance by the log wheel absolute value encoder 2, be arranged in the incremental encoder 3 of firm leg running motor speed end, be arranged in the incremental encoder 4 of soft leg running motor speed end, be arranged in the absolute value encoder 5 of flexible strand above soft leg, be arranged in the magnetic induction sensor 6 in the middle of hard and soft leg walking rails, also comprise the Programmable Logic Controller (PLC) 7 being installed on electrical control cubicles, hard and soft leg alternating current dynamo frequency converter 8, 9.
The sensor group of the present embodiment comprises and is arranged at intervals at a magnetic induction sensor battle array in the middle of a machine walking track with fixed range, is arranged in the magnetic induction receptor walked on driving frame between the firm leg of a machine and soft leg, wherein, magnetic induction sensor battle array comprises: be arranged in the middle firm leg magnetic induction sensor of firm leg walking rails with fixed range interval, be arranged in the middle soft leg magnetic induction sensor of soft leg walking rails with fixed range interval.In the present embodiment, these fixed interval are 15 meters.
The hard and soft leg of cart of the present embodiment is respectively by two frequency converter individual drive, namely Programmable Logic Controller independently carries out speed preset control according to the firm leg of cart obtained from cart hard and soft leg absolute value encoder and the distance travelled of soft leg wheels to two frequency converters, the small adjustment of frequency converter output frequency is driven to soft leg, cart hard and soft leg progressive error is kept in certain safe range.
Calculating the small adjustment amount now characterizing described soft leg driving frequency converter output frequency is α:
Described wheel of having the records of distance by the log, absolute value encoder obtain the distance travelled LG of being of firm leg, the distance travelled of the soft leg of cart is LR, the accumulation deviation note LADD that described flexibility strand absolute value encoder obtains, described incremental encoder obtains the distance travelled LGG of being of firm leg motor side, the distance travelled of soft leg motor side is LRG:
1.. when complete machine left lateral, described LG<LR, and | during LG-LR| > L, then Programmable Logic Controller makes small adjustment amount α=(LG-LR) * δ that soft leg drives frequency converter output frequency, until | LG-LR|≤L0, during LADD≤LNJ, firm, the soft leg traveling speed of Controlled by Programmable Controller is consistent;
2.. when complete machine left lateral, described LG > LR, and | during LG-LR| > L, then Programmable Logic Controller makes small adjustment amount α=(LG-LR) * δ that soft leg drives frequency converter output frequency, until | LG-LR|≤L0, during LADD≤LNJ, firm, the soft leg traveling speed of Controlled by Programmable Controller is consistent;
3.. when complete machine right lateral, described LG<LR, and | during LG-LR| > L, then Programmable Logic Controller makes small adjustment amount α=(LG-LR) * δ that soft leg drives frequency converter output frequency, until | LG-LR|≤L0, during LADD≤LNJ, firm, the soft leg traveling speed of Controlled by Programmable Controller is consistent;
4.. when complete machine right lateral, described LG > LR, and | during LG-LR| > L, then Programmable Logic Controller makes small adjustment amount α=(LG-LR) * δ that soft leg drives frequency converter output frequency, until | LG-LR|≤L0, during LADD≤LNJ, firm, the soft leg traveling speed of Controlled by Programmable Controller is consistent.
Wherein, δ is frequency regulation coefficient.In door machine cart walking process, soft leg drives the small adjustment of frequency converter output frequency to be controlled according to the instruction that LG, LR, LADD, LGG, LRG send automatically by described Programmable Logic Controller.Programmable Logic Controller is in correction calculation process process, if there is | LG-LGG| > LMAX or | LR-LRG| > LMAX, then think that " skidding " phenomenon occurs corresponding traveling wheels low speed end absolute value encoder, correction program need process, wait for by after next magnetic induction sensor, perform correction program again, the maximum deflection difference value that the cart walking distance that LMAX surveys for cart height low speed end coder allows.The constants such as LMAX, L0, LNJ, δ adjust according to rectifying effect in PLC detail programming process, make rectifying effect optimum.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Claims (7)
1. a door machine traveling system for automatically correcting, it is characterized in that, comprise: coder group, Programmable Logic Controller, for the running motor of the firm leg of driving gate machine and soft leg running mechanism, for controlling the frequency converter of described running motor, described coder group is connected with Programmable Logic Controller, and described frequency converter is connected with described running motor;
Wherein, described coder group comprises:
Absolute value encoder group, the low speed end being arranged in the firm leg of a machine and soft leg traveling wheels is had the records of distance by the log on wheel, for obtaining the firm leg of a machine and soft leg wheels are distance travelled;
Incremental encoder group, is arranged in the firm leg of a machine and soft leg running motor speed end, for obtaining the traveling pulse count of the firm leg of a machine and soft leg running motor;
Flexible strand absolute value encoder, is arranged in the flexibility strand above the soft leg of a machine, for obtaining the Accumulated deviation cumulative data produced in a machine traveling process;
Described Programmable Logic Controller comprises: for reading the high speed counting module of the incremental encoder group pulse number in the firm leg of a machine and soft leg running motor speed end.
2. a kind of door machine traveling system for automatically correcting according to claim 1, it is characterized in that, described absolute value encoder group comprises:
Firm leg absolute value encoder, the low speed end being arranged in a machine firm leg traveling wheels is had the records of distance by the log on wheel, distance travelled for obtaining a machine firm leg wheels;
Soft leg absolute value encoder, the low speed end being arranged in a machine soft leg traveling wheels is had the records of distance by the log on wheel, distance travelled for obtaining a machine soft leg wheels;
Described incremental encoder group comprises:
Firm leg incremental encoder, is arranged in firm leg running motor speed end, for obtaining the traveling pulse count of the firm leg motor of cart;
Soft leg incremental encoder, is arranged in soft leg running motor speed end, for obtaining the traveling pulse count of the soft leg motor of cart.
3. a kind of door machine traveling system for automatically correcting according to claim 1, it is characterized in that, also comprise the sensor group be connected with described Programmable Logic Controller, described sensor group comprises and is arranged at intervals at a magnetic induction sensor battle array in the middle of machine walking track with fixed range, be arranged in the magnetic induction receptor walked on driving frame between the firm leg of a machine and soft leg, wherein, described magnetic induction sensor battle array comprises: be arranged in the firm leg magnetic induction sensor in the middle of firm leg walking rails with described fixed range interval, the soft leg magnetic induction sensor in the middle of soft leg walking rails is arranged in described fixed range interval.
4. utilize system described in claim 1 to carry out a method that machine traveling is rectified a deviation, it is characterized in that, comprising:
Distance detecting step, utilizes the low speed end of the firm leg of door machine and soft leg traveling wheels to have the records of distance by the log and takes turns the synchronized operation of drive absolute value encoder group, distance travelled according to the wheels of the described absolute value encoder difference firm leg of real-time detecting gate machine and soft leg;
Distance correction step, compares firm leg and the distance travelled size of soft leg wheels that distance detecting step obtains, adjusts firm leg or soft leg traveling speed according to comparative result;
Wherein, described distance correction step comprises further:
Mathematic interpolation sub-step, calculate the wheels of the firm leg of door machine and soft leg distance travelled between the distance travelled difference of wheels, the distance travelled difference of described wheels calculates based on formula △ L=|LG-LR|, wherein: △ L is the distance travelled differences of wheels, LG is that firm leg wheels are distance travelled, and LR is that soft leg wheels are distance travelled;
Adjustment judges sub-step, if the distance travelled difference of described wheels is greater than the deviation adjusting preset start thresholding, then execution speed adjustment sub-step stops thresholding until the distance travelled difference of described wheels meets the deviation adjusting preset;
Speed adjustment sub-step, compares the size that the distance travelled and soft leg wheels of firm leg wheels of a machine are distance travelled, according to the comparative result adjustment firm leg of door machine and/or soft leg traveling speed.
5. according to claim 4 machine traveling is rectified a deviation method, it is characterized in that, described speed adjustment sub-step is: compare the size that the distance travelled and soft leg wheels of firm leg wheels of a machine are distance travelled, if LG<LR, then reduce the soft leg speed of door machine, if LG > is LR, then improve soft leg speed.
6. according to claim 4 machine traveling is rectified a deviation method, it is characterized in that, also comprises:
Cumulative departure calculation procedure, being twisted by the flexibility above the soft leg of door machine drives flexible strand absolute value encoder to rotate, and the signal that Programmable Logic Controller reads poly-described flexibility strand absolute value encoder is gone forward side by side the cumulative departure that row operation process obtains producing in the firm leg of a machine and soft leg traveling process;
Further, the described deviation adjusting in described speed adjustment sub-step stops thresholding to be: △ L≤L0 and LADD≤LNJ, and wherein LADD is the cumulative departure obtained in cumulative departure calculation procedure, L0 and LNJ is the constant preset.
7. according to claim 4 machine traveling is rectified a deviation method, it is characterized in that, also comprises:
Interval detecting step, is the correction adjustment interval of multiple same distance by door machine walking division of period orbit, detects and work as correction adjustment interval residing for the machine of Qianmen in door machine walking process;
Distance calculation procedure, Programmable Logic Controller carries out according to the motor rotation impulse singla that incremental encoder detects the motor travel distance that calculation process obtains the firm leg of a machine and soft leg running motor;
Skidding treatment step, compare that the wheels of the firm leg of a machine and soft leg are distance travelled walks distance with motor respectively, if | LG-LGG| > LMAX or | LR-LRG| > LMAX, stops described distance correction step until when door machine enters next correction adjustment interval in current correction adjustment is interval.
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| CN110877860A (en) * | 2019-12-12 | 2020-03-13 | 南通大学 | Gantry crane and rail gnawing preventing method thereof |
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| CN111119759B (en) * | 2019-12-25 | 2021-06-25 | 湖南三一石油科技有限公司 | Synchronous driving control method and system, pipeline conveying system and power catwalk |
| CN111776945A (en) * | 2020-06-19 | 2020-10-16 | 中铁大桥局第九工程有限公司 | Monitoring deviation rectifying system and method for large-span portal crane |
| CN112957779A (en) * | 2021-03-16 | 2021-06-15 | 深圳市深水光明水务有限公司 | Traveling type mud scraper and control method thereof |
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