CN116969334A - Multi-crown block collaborative operation system - Google Patents

Multi-crown block collaborative operation system Download PDF

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Publication number
CN116969334A
CN116969334A CN202311181494.3A CN202311181494A CN116969334A CN 116969334 A CN116969334 A CN 116969334A CN 202311181494 A CN202311181494 A CN 202311181494A CN 116969334 A CN116969334 A CN 116969334A
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CN
China
Prior art keywords
motor
crown block
lifting
assembly
control signal
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Granted
Application number
CN202311181494.3A
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Chinese (zh)
Other versions
CN116969334B (en
Inventor
黄琪琛
林添良
李芊芊
谭智波
李玉坤
胡鑫海
缪骋
郑亚青
李钟慎
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Huaqiao University
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Huaqiao University
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Priority to CN202311181494.3A priority Critical patent/CN116969334B/en
Publication of CN116969334A publication Critical patent/CN116969334A/en
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Publication of CN116969334B publication Critical patent/CN116969334B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0321—Travelling cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/088—Remote control of electric cranes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The application provides a multi-crown block collaborative operation system, which is characterized in that a plurality of crown blocks are parallelly connected in a three-purpose traditional mechanism, and a plurality of crown block steel cables are connected at the same lifting point to form a collaborative operation basic form. When the lifting device works cooperatively, the crown block handles are used for remotely controlling the crown blocks to synchronously move longitudinally and transversely, and the lifting handle is used for realizing three-degree-of-freedom movement of the lifting object in a triangular area formed by the positions of the lifting motors. When the plurality of crown blocks do not work cooperatively, the traditional independent operation mode can be restored through the corresponding crown block remote control, and the control is consistent with the traditional crown block. In addition, when a plurality of crown blocks are required to cooperatively operate, the traditional crown block has the problems of high operation difficulty, high risk, low efficiency and poor flexibility.

Description

Multi-crown block collaborative operation system
Technical Field
The application relates to the technical field of bridge cranes, in particular to a multi-crown block collaborative operation system.
Background
Crown blocks (also called bridge cranes) are common hoisting equipment and are widely applied to factories, warehouses, ports, logistics centers and other places; it spans the top rack or mast by a cross beam and moves along the track for lifting and carrying the weights.
Currently, a bridge type structure is adopted by a traditional crown block, a cross beam (also called a big arm) spans a bracket or a strut to form a seat bridge, the cross beam is provided with a hoisting mechanism to realize lifting and left-right movement of a lifting hook, and a driving device and a walking track are arranged on the crown block and can move back and forth along the track. The overhead traveling crane uses the control lever, the button or the remote controller to carry out remote control operation, and single overhead traveling crane payload is insufficient frequently to appear in the operation in-process, needs the collaborative operation condition of many overhead traveling cranes, and in this process, needs many operating personnel to accomplish according to experience and the coordinated operation of scene condition, and whole operation process has the problem that the operation degree of difficulty is big, the risk is high, inefficiency and flexibility is poor.
In view of this, the present application has been proposed.
Disclosure of Invention
In view of the above, the present application aims to provide a multi-crown block collaborative operation system, which can effectively solve the problems of the prior art that when the traditional crown block is faced with the situation of requiring the collaborative operation of a plurality of crown blocks, a plurality of operators are required to finish the collaborative operation according to experience and site situation, and the whole operation process has the problems of high operation difficulty, high risk, low efficiency and poor flexibility.
The application discloses a multi-crown block collaborative operation system, which comprises: the device comprises a controller, a crown block handle, a hoisting handle, a driving assembly, a motor assembly and a photoelectric assembly, wherein the motor assembly and the photoelectric assembly are arranged on a crown block beam;
the output end of the crown block handle, the output end of the hoisting handle and the output end of the photoelectric assembly are electrically connected with the input end of the controller, the output end of the controller is electrically connected with the input end of the driving assembly, the output end of the driving assembly is electrically connected with the input end of the motor assembly, a hoisting object is arranged on the motor assembly through a steel cable, and a plurality of crown blocks are arranged at the same hoisting point through the steel cable;
wherein the controller is configured to implement the following steps by executing a computer program stored therein:
after receiving the collaborative operation signal, respectively acquiring a first control signal and a second control signal sent by the crown block handle and the hoisting handle;
acquiring real-time position coordinates of a lifting motor of the motor assembly, which are acquired by the photoelectric assembly;
calculating the first control signal and the real-time position coordinate to generate a motor position at the next moment of the lifting motor of the motor assembly；
Correcting the position of the lifting pointStoring the second control signal and the real-time position coordinate into a system register, and calculating the second control signal and the real-time position coordinate to generate the next time position of the lifting point +.>；
For the next moment motor position of the motor assembly lifting motorAnd the next moment position of the lifting pointPerforming transformation processing to generate transverse and longitudinal motor rotation speed signal +.>And a lift motor speed signal->；
The rotation speed signal of the transverse and longitudinal motor is transmittedAnd the lift motor speed signal +.>And the motor assembly is transmitted to the driving assembly to drive the motor assembly to correspondingly rotate.
Preferably, the crown block handle is a double-shaft voltage type analog quantity type electric handle, and the hoisting handle is a three-shaft voltage type analog quantity type electric handle.
Preferably, the photoelectric assembly comprises a plurality of laser ranging modules, each laser ranging module is respectively configured on a beam of the crown block, and the output end of each laser ranging module is electrically connected with the input end of the controller.
Preferably, the driving assembly comprises a plurality of frequency converters, an input end of each frequency converter is electrically connected with an output end of the controller, and an output end of each frequency converter is electrically connected with an input end of the motor assembly.
Preferably, the motor assembly comprises a plurality of lifting motors, a plurality of transverse motors and a plurality of longitudinal motors which are arranged on the crown block beam, wherein the input end of each lifting motor, the input end of each transverse motor and the input end of each longitudinal motor are electrically connected with the output end of the driving assembly.
Preferably, the first control signal and the real-time position coordinate are calculated to generate a motor position at the next moment of the motor assembly lifting motorThe method specifically comprises the following steps:
according to the formulaCalculating a first increment corresponding to said first control signal>Wherein->For the handle voltage of the crown block handle, < >>For the maximum working speed of the crown block in the longitudinal or transverse direction,is a first delta coefficient;
according to the formulaCalculating the next moment motor position of the motor assembly lift motor +.>Wherein->Lifting a current motor position of a motor for the motor assembly;
when judging the next moment motor position of the motor component lifting motorExceeding a preset position limitWhen (I)>。
Preferably, the position of the lifting point is correctedStoring the second control signal and the real-time position coordinate into a system register, and calculating the second control signal and the real-time position coordinate to generate the next time position of the lifting point +.>The method specifically comprises the following steps:
according to the formulaCalculating a second increment corresponding to said second control signal>Wherein->For the handle voltage of the lifting handle, +.>For the maximum working speed of the lifting motor in the longitudinal, transverse and vertical directions, +.>Is a second delta coefficient;
according to the formulaCalculating the next moment position of the lifting point +.>Wherein->The current position of the lifting point is the current position of the lifting point;
when judging the motor position at the next moment of the lifting pointExceeding the preset position limit->In the time-course of which the first and second contact surfaces,。
preferably, the motor position is set for the next time of the motor assembly lifting motorAnd the next moment position of said lifting point +.>Performing transformation processing to generate transverse and longitudinal motor rotation speed signal +.>And a lift motor speed signal->The method specifically comprises the following steps:
according to the formulaMotor position for the next time of lifting motor of the motor assembly +.>Calculating to generate a transverse and longitudinal motor rotating speed signal +.>Wherein->Is the radius of the crown block rail wheel +.>For the crown block to move the gear ratio of the gear motor, +.>Motor position for the next time of lifting the motor of the motor assembly +.>Derivative of>，/>Is a data sampling period;
according to the formulaPosition +.>Calculating to generate a rotating speed signal of the lifting motor>Wherein->Rope length of lifting object +.>Derivative of rope length，/>Is jacobian matrix->，/>For the reduction ratio of the lifting and decelerating winch +.>For the radius of the lifting point rail wheel +.>For the next moment, the speed of the lifting platform is +.>，/>Is the data sampling period.
Preferably, the crane remote control system further comprises a crane remote control assembly, wherein the output end of the crane remote control assembly is electrically connected with the input end of the controller.
Preferably, the method further comprises:
after receiving the uncooperative operation signal, acquiring a third control signal sent by the crown block remote control assembly;
when the third control signal is judged to be a lifting signal, the third control signal is sent to the corresponding lifting motor;
when the third control signal is judged to be a transverse signal, the third control signal is sent to the corresponding transverse motor;
and when the third control signal is judged to be a longitudinal signal, the third control signal is sent to the corresponding longitudinal motor.
In summary, in the multi-crown block collaborative operation system provided in this embodiment, the three-purpose traditional multi-crown block is parallel to form a basic collaborative operation form by connecting the multi-crown block steel cables at the same lifting point. When the lifting device works cooperatively, the crown block handles are used for remotely controlling the crown blocks to synchronously move longitudinally and transversely, and the lifting handle is used for realizing three-degree-of-freedom movement of the lifting object in a triangular area formed by the positions of the lifting motors. When the plurality of crown blocks do not work cooperatively, the traditional independent operation mode can be restored through the corresponding crown block remote control, and the control is consistent with the traditional crown block; therefore, the problems that when the traditional crown block in the prior art faces the situation of cooperative operation of a plurality of crown blocks, a plurality of operators are required to finish the cooperative operation according to experience and site conditions, and the whole operation process has the problems of high operation difficulty, high risk, low efficiency and poor flexibility are solved.
Drawings
Fig. 1 is a schematic structural diagram of a multi-crown block collaborative operation system according to a first aspect of the present application.
Fig. 2 is a schematic structural diagram of a multi-crown block collaborative operation system according to a second aspect of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, based on the embodiments of the application, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the application. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, based on the embodiments of the application, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the application.
Specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 2, a first embodiment of the present application provides a multi-crown block collaborative operation system, which includes: the device comprises a controller, a crown block handle, a hoisting handle, a driving assembly, a motor assembly and a photoelectric assembly, wherein the motor assembly and the photoelectric assembly are arranged on a crown block beam;
the output end of the crown block handle, the output end of the hoisting handle and the output end of the photoelectric assembly are electrically connected with the input end of the controller, the output end of the controller is electrically connected with the input end of the driving assembly, the output end of the driving assembly is electrically connected with the input end of the motor assembly, a hoisting object is arranged on the motor assembly through a steel cable, and a plurality of crown blocks are arranged at the same hoisting point through the steel cable;
specifically, in this embodiment, the crown block handle may be a dual-axis voltage type analog quantity type electric handle, and the hoisting handle may be a tri-axis voltage type analog quantity type electric handle.
In this embodiment, the crown block handle is a dual-axis voltage analog quantity type electric handle, the handle has two-way voltage analog signals of X and Y axes, which correspond to front and back and left and right hand movements of the handle respectively, and the larger the opening degree of the single-way hand movement is, the higher the voltage value output by the axis is, and the voltage interval is-2.5V to +2.5v. The hoisting double handles are triaxial voltage type analog quantity type electric handles, and the handles are X, Y, Z-axis three-directional voltage analog signals which correspond to front and back, left and right hand wrenching and up and down poking of the handles respectively. The larger the opening degree of the handle in a single direction is, the higher the voltage value output by the shaft is, and the voltage interval is-2.5V to +2.5V.
Specifically, in this embodiment, the optoelectronic component includes a plurality of laser ranging modules, each of which is configured on a beam of the crown block, where an output end of each of the laser ranging modules is electrically connected to an input end of the controller.
In this embodiment, the photoelectric component is used to detect the real-time position of multiple overhead travelling crane lifting motors. The method is characterized in that a coordinate origin is arranged at the starting point of the crown block track, each crown block beam is provided with a laser ranging module, and the distance between the longitudinal direction of the crown block and the origin and the distance between the lifting motor and the origin in the transverse direction are detected, namely the X and Y coordinates of the crown block, and the Z coordinate value is fixed because the height of the crown block bridge is fixed. So far, the position of each overhead travelling crane lifting motor can be provided with a photoelectric system to feed back (X, Y and Z) coordinates in the controller in real time.
Specifically, in this embodiment, the driving assembly includes a plurality of frequency converters, an input end of each frequency converter is electrically connected to an output end of the controller, and an output end of each frequency converter is electrically connected to an input end of the motor assembly.
In this embodiment, taking three crown blocks as an example, there are three lifting motors, three transverse motors, three longitudinal motors and nine frequency converters correspondingly, at this time, the driving assembly is composed of nine frequency converters, which are respectively a first lifting motor frequency converter, a first transverse motor frequency converter, a first longitudinal motor frequency converter, a second lifting motor frequency converter, a second transverse motor frequency converter, a second longitudinal motor frequency converter, a third lifting motor frequency converter, a third transverse motor frequency converter and a third longitudinal motor frequency converter. The driving component receives nine motor rotating speed signals sent by the controller, and can realize corresponding motor driving and rotating speed control.
Specifically, in this embodiment, the motor assembly includes a plurality of lift motors, a plurality of transverse motors, and a plurality of longitudinal motors disposed on the crown block beam, where an input end of each of the lift motors, an input end of each of the transverse motors, and an input end of each of the longitudinal motors are electrically connected to an output end of the driving assembly.
Wherein the controller is configured to implement the following steps by executing a computer program stored therein:
s101, after receiving a collaborative operation signal, respectively acquiring a first control signal and a second control signal sent by the crown block handle and the hoisting handle;
s102, acquiring real-time position coordinates of a lifting motor of the motor assembly, which are acquired by the photoelectric assembly;
s103, calculating the first control signal and the real-time position coordinate to generate a motor position at the next moment of the motor assembly lifting motor；
Specifically, step S103 includes: according to the formulaCalculating a first increment corresponding to said first control signal>Wherein->For the handle voltage of the crown block handle, < >>For maximum operating speed of the crown block in longitudinal or transverse direction, < > for the crown block>Is a first delta coefficient;
according to the formulaCalculating the next moment motor position of the motor assembly lift motor +.>Wherein->Lifting a current motor position of a motor for the motor assembly;
when judging the next moment motor position of the motor component lifting motorExceeding a preset position limitWhen (I)>。
Specifically, in this embodiment, taking three crown blocks as an example, there are three lifting motors, three transverse motors, three longitudinal motors and nine frequency converters correspondingly, and the position calculation of the lifting motors is that the crown block handle voltage signal is processed; the voltage signal of the crown block handle is-2.5V to +2.5V, and a safe dead zone of +/-0.5V is set, namely the effective working voltage interval is [ -2.5, -0.5]And [0.5,2.5 ]]. Build-up incrementVoltage +.>The function is as follows:wherein->For the maximum working speed of the longitudinal and transverse directions of the crown block, < > of the crown block>The working sensitivity of the crown block handle can be adjusted for the increment coefficient. Feeding back the current position of the crane lifting motor to the photoelectric system>And incrementAdding to obtain the position of the crane lifting motor at the next moment
Setting working space and lifting motor position of crown block at the next momentBeyond the position limit->When in use, then。
S104, correcting the position of the lifting pointStoring the second control signal and the real-time position coordinate into a system register, and calculating the second control signal and the real-time position coordinate to generate the next time position of the lifting point +.>；
Specifically, step S104 includes: according to the formulaCalculating a second increment corresponding to said second control signal>Wherein->For the handle voltage of the lifting handle, +.>For the maximum working speed of the lifting motor in the longitudinal, transverse and vertical directions, +.>Is a second delta coefficient;
according to the formulaCalculating the next moment position of the lifting point +.>Wherein->The current position of the lifting point is the current position of the lifting point;
when judging the motor position at the next moment of the lifting pointExceeding the preset position limit->In the time-course of which the first and second contact surfaces,。
taking three crown blocks as an example, three lifting motors, three transverse motors, three longitudinal motors and nine frequency converters are correspondingly arranged, the collected voltage signals of the crown block handles and the hoisting handles are connected into the controller, and the program of the controller can be divided into two parts of position calculation and control calculation. And the voltage signals of the crown block handle and the hoisting handle are connected to a position calculating part in the controller, and the position calculating part receives the voltage signals of the crown block handle and the hoisting handle and also receives digital signals of the positions of the three crown block hoisting motors detected by the photoelectric assembly. And calculating the coordinate point to be reached at the next moment according to the voltage signals input by the crown block handle and the hoisting handle. Firstly, the increment corresponding to the voltage signal of the crown block handle and the hoisting handle is calculated, and the current position and the increment are added to obtain the position coordinate at the next moment.
Specifically, calculating the position of a lifting point, namely processing the voltage signal of the lifting handle; the lifting point is required to correct the position before the cooperative combination is started to finish the starting operationAnd then written into a system register. The voltage signal of the lifting handle is-2.5 to +2.5, and a safe dead zone of +/-0.5V is set, namely the effective working voltage interval is [ -2.5, -0.5]And [0.5,2.5 ]]. Build up delta->Voltage +.>The function is as follows: />Wherein->For the maximum working speed of the lifting motor in the longitudinal, transverse and vertical directions, < >>The working sensitivity of the lifting handle can be adjusted for the increment coefficient.
The current position of the lifting point stored in the register in the system at the momentAnd delta->Adding to obtain the position of the lifting point at the next moment
Setting a working space and the position of a lifting point at the next momentBeyond the position limit->When in use, then. The position coordinates +.>Position of crane lifter>。
S105, the motor position of the motor assembly lifting motor at the next momentAnd the next moment position of said lifting point +.>Performing transformation processing to generate transverse and longitudinal motor rotation speed signal +.>And a lift motor speed signal->；
Specifically, step S105 includes: according to the formulaMotor position for the next time of lifting motor of the motor assembly +.>Calculating to generate a transverse and longitudinal motor rotating speed signal +.>Wherein->Is the radius of the crown block rail wheel +.>For the crown block to move the gear ratio of the gear motor, +.>Motor position for the next time of lifting the motor of the motor assembly +.>Derivative of>，/>Is a data sampling period;
according to the formulaPosition +.>Calculating to generate a rotating speed signal of the lifting motor>Wherein->Rope length of lifting object +.>Derivative of rope length，/>Is jacobian matrix->，/>For the reduction ratio of the lifting and decelerating winch +.>For the radius of the lifting point rail wheel +.>For the next moment, the speed of the lifting platform is +.>，/>Is the data sampling period.
Specifically, in the present embodiment, the controller program controls the calculating section to receive the next-time motor position of the motor assembly lift motor from the position calculationMotor position next time of said lifting point +.>The processed position information is converted into rotating speed signals of nine motors, and the rotating speed signals are sent to a driving system.
In the embodiment, the crown block signals are used for cooperative operationIs converted into rotational speed->The following are given in detailWherein->Is the radius of the crown block rail wheel +.>For the crown block to move the gear ratio of the gear motor, +.>Is->Derivatives of (i.e.)>，/>Is the data sampling period. The calculation can calculate the rotation speed signals of the transverse and longitudinal motors of the three crown blocks simultaneously.
Lifting point position signalIs converted into a rotation speed signal->The following are provided:
is provided withUnknown (X, Y, Z), rope length +.>Deriving is available->Wherein->Is jacobian matrix->. Let the speed reduction ratio of the lifting speed reduction winch be i and the radius be +.>The rotational speed can be obtainedWherein->For the next moment, the speed of the lifting platform is +.>Wherein->Is the data sampling period. By the above calculation, bring in->The actual value can obtain three elevator motor rotating speed signals at the same time.
S106, the rotation speed signal of the transverse and longitudinal motor is transmittedAnd the lift motor speed signal +.>And the motor assembly is transmitted to the driving assembly to drive the motor assembly to correspondingly rotate.
Specifically, in this embodiment, the driving component receives the nine motor rotation speed signals sent by the controller, so as to implement corresponding motor driving and implement rotation speed control. Nine motors are controlled by the respective frequency converters respectively, and the respective actions are realized through the execution elements.
Specifically, in this embodiment, the device further includes an overhead crane remote control assembly, and an output end of the overhead crane remote control assembly is electrically connected with an input end of the controller.
Further comprises: after receiving the uncooperative operation signal, acquiring a third control signal sent by the crown block remote control assembly;
when the third control signal is judged to be a lifting signal, the third control signal is sent to the corresponding lifting motor;
when the third control signal is judged to be a transverse signal, the third control signal is sent to the corresponding transverse motor;
and when the third control signal is judged to be a longitudinal signal, the third control signal is sent to the corresponding longitudinal motor.
In this embodiment, the controller may also receive the switching value signal from the crown block remote control assembly, convert the switching value signal into a corresponding rotation speed signal, and send the rotation speed signal to the driving system. When the remote control on-off signal processing of the crown block is not carried out, taking the remote control ascending button of the first crown block as an example, the crown block button is the on-off signal, and when the button is pressed down to send out and is received by the controller, a fixed positive rotating speed signal is sent to the first lifting motor frequency converter of the driving system in control calculation. When the button is released, the signal is stopped, the controller does not receive the remote control ascending switching value signal of the first crane, and the control calculation sends a zero rotation speed signal to the first lifting motor frequency converter of the driving system. The working principle of the remote control buttons of other crown blocks is the same.
In conclusion, the multi-crown block collaborative operation system adopts a double handle to realize multi-crown block collaborative operation, and can also recover the operation of the traditional single crown block; the method has the advantages of low operation difficulty, strong lifting capacity, high flexibility, low risk and high efficiency. Specifically, three traditional crown blocks of the three-purpose mechanism are parallel, and three crown blocks are connected with a steel cable at the same lifting point to form a basic form of cooperative operation. When the three-dimensional lifting device is in cooperative operation, the three crown blocks are operated by the crown block handle in a remote control mode to synchronously move longitudinally and transversely, and the three-degree-of-freedom movement of the lifting object in a triangular area formed by the positions of the three lifting motors is realized through the lifting handle. When the three crown blocks do not work cooperatively, the traditional independent operation mode can be restored through the corresponding crown block remote control, and the control is consistent with the traditional crown block.
The above is only a preferred embodiment of the present application, and the protection scope of the present application is not limited to the above examples, and all technical solutions belonging to the concept of the present application belong to the protection scope of the present application.

Claims (10)

1. A multi-crown block collaborative operation system, comprising: the device comprises a controller, a crown block handle, a hoisting handle, a driving assembly, a motor assembly and a photoelectric assembly, wherein the motor assembly and the photoelectric assembly are arranged on a crown block beam;
the output end of the crown block handle, the output end of the hoisting handle and the output end of the photoelectric assembly are electrically connected with the input end of the controller, the output end of the controller is electrically connected with the input end of the driving assembly, the output end of the driving assembly is electrically connected with the input end of the motor assembly, a hoisting object is arranged on the motor assembly through a steel cable, and a plurality of crown blocks are arranged at the same hoisting point through the steel cable;
wherein the controller is configured to implement the following steps by executing a computer program stored therein:
after receiving the collaborative operation signal, respectively acquiring a first control signal and a second control signal sent by the crown block handle and the hoisting handle;
acquiring real-time position coordinates of a lifting motor of the motor assembly, which are acquired by the photoelectric assembly;
calculating the first control signal and the real-time position coordinate to generate a motor position at the next moment of the lifting motor of the motor assembly；
Correcting the position of the lifting pointStoring the second control signal and the real-time position coordinate into a system register, and calculating the second control signal and the real-time position coordinate to generate the next time position of the lifting point +.>；
For the next moment motor position of the motor assembly lifting motorAnd the next moment position of said lifting point +.>Performing transformation processing to generate transverse and longitudinal motor rotation speed signal +.>And a lift motor speed signal->；
The rotation speed signal of the transverse and longitudinal motor is transmittedAnd the lift motor speed signal +.>And the motor assembly is transmitted to the driving assembly to drive the motor assembly to correspondingly rotate.
2. The multi-crown block collaborative operation system according to claim 1, wherein the crown block handle is a dual-axis voltage type analog quantity type electric handle, and the hoisting handle is a tri-axis voltage type analog quantity type electric handle.
3. The multi-crown block collaborative operation system according to claim 1, wherein the optoelectronic assembly comprises a plurality of laser ranging modules, each laser ranging module configured on a beam of a crown block, wherein an output of each laser ranging module is electrically connected to an input of the controller.
4. The multi-crown block collaborative operation system according to claim 1, wherein the drive assembly includes a plurality of frequency converters, an input of each frequency converter electrically coupled to an output of the controller, and an output of each frequency converter electrically coupled to an input of the motor assembly.
5. The multi-crown block collaborative work system of claim 1, wherein the motor assembly includes a plurality of hoist motors, a plurality of traverse motors, and a plurality of longitudinal motors disposed on a crown block beam, wherein an input of each of the hoist motors, an input of each of the traverse motors, and an input of each of the longitudinal motors are electrically coupled to an output of the drive assembly.
6. The multi-crown block collaborative operation system according to claim 5, wherein the first control signal and the real-time position coordinates are calculated to generate a next time motor position of the motor assembly hoist motorThe method specifically comprises the following steps:
according to the formulaCalculating a first increment corresponding to the first control signalWherein->For the handle voltage of the crown block handle, < >>For maximum operating speed of the crown block in longitudinal or transverse direction, < > for the crown block>Is a first delta coefficient;
according to the formulaCalculating the position of the motor at the next moment of the lifting motor of the motor assemblyWherein->Lifting a current motor position of a motor for the motor assembly;
when judging the next moment motor position of the motor component lifting motorExceeding the preset position limit->In the time-course of which the first and second contact surfaces,。
7. the multi-crown block collaborative work system according to claim 5, wherein the position of the lifting point is correctedStoring the second control signal and the real-time position coordinate into a system register, and calculating the second control signal and the real-time position coordinate to generate the next time position of the lifting point +.>The method specifically comprises the following steps:
according to the formulaCalculating a second increment corresponding to the second control signalWherein->For the handle voltage of the lifting handle, +.>For the maximum working speed of the lifting motor in the longitudinal, transverse and vertical directions, +.>Is a second delta coefficient;
according to the formulaCalculating the next moment position of the lifting point +.>Wherein->The current position of the lifting point is the current position of the lifting point;
when judging the motor position at the next moment of the lifting pointExceeding the preset position limit->In the time-course of which the first and second contact surfaces,。
8. a multi-crown block collaborative work system according to claim 1, wherein for a next time motor position of the motor assembly hoist motorAnd the next moment position of said lifting point +.>Performing transformation processing to generate transverse and longitudinal motor rotation speed signal +.>And a lift motor speed signal->The method specifically comprises the following steps:
according to the formulaMotor position for the next time of lifting motor of the motor assembly +.>Calculating to generate a transverse and longitudinal motor rotating speed signal +.>Wherein->Is the radius of the crown block rail wheel +.>The transmission ratio of the speed reducing motor is moved for the crown block,motor position for the next time of lifting the motor of the motor assembly +.>Derivative of>，/>Is a data sampling period;
according toFormula (VI)Position +.>Calculating to generate a rotating speed signal of the lifting motor>Wherein->Rope length of lifting object +.>Derivative of rope length，/>Is jacobian matrix->，/>For the reduction ratio of the lifting and decelerating winch +.>For the radius of the lifting point rail wheel +.>For the next moment, the speed of the lifting platform is +.>，/>Sampling cycles for dataAnd (5) a period.
9. The multi-crown block collaborative work system according to claim 5, further comprising a crown block remote control assembly, an output of the crown block remote control assembly electrically coupled to an input of the controller.
10. The multi-crown block collaborative work system according to claim 9, further comprising:
after receiving the uncooperative operation signal, acquiring a third control signal sent by the crown block remote control assembly;
when the third control signal is judged to be a lifting signal, the third control signal is sent to the corresponding lifting motor;
when the third control signal is judged to be a transverse signal, the third control signal is sent to the corresponding transverse motor;
and when the third control signal is judged to be a longitudinal signal, the third control signal is sent to the corresponding longitudinal motor.
CN202311181494.3A 2023-09-14 2023-09-14 Multi-crown block collaborative operation system Active CN116969334B (en)

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