CN104030167A - Electric control system for bridge grabbing crane - Google Patents
Electric control system for bridge grabbing crane Download PDFInfo
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- CN104030167A CN104030167A CN201310067743.6A CN201310067743A CN104030167A CN 104030167 A CN104030167 A CN 104030167A CN 201310067743 A CN201310067743 A CN 201310067743A CN 104030167 A CN104030167 A CN 104030167A
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- electric control
- frequency converter
- grabbing crane
- bridge grabbing
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- 230000002159 abnormal effect Effects 0.000 description 1
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- 239000011449 brick Substances 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
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Abstract
The invention relates to an electric control system for a bridge grabbing crane. The electric control system for the bridge grabbing crane comprises a frequency converter, a programmable controller (PLC), a rotary encoder and software, wherein the frequency converter meets requirements of a transmission system, cooperation between the PLC and the rotary encoder meets requirements of logic control, the software is used to imitate operation methods of experienced operation personnel, and cooperation between the software and the frequency converter enables the whole process of grabbing to be completed. The electric control system provided by the invention overcomes difficult problems in controlling of a grab bucket, reduces the failure rate of equipment and work intensity of operation personnel, has improved work efficiency and is feasible according to practical results.
Description
Technical field
Bridge grabbing crane is commonly used to the weights such as loading, unloading coal, ash, spoil, the present invention relates to a kind of electric control system of bridge grabbing crane, is the electric control system of indispensable construction machinery and equipment in cargo ports, harbour, power plant, industrial and mining enterprises' production process.
Background technology
The electric control system Industry of bridge grabbing crane is: the former transmission control of the grab bucket lifting of crane in bridge type, switching, cart, trolley travelling is relay, contactless switch control, and grab bucket operating mode is the operation of dual-handle joint action table.For ensure mechanical movement steadily, system adopts rotor resistance starting mode, because wound-rotor motor is to carry out by contactless switch the resistance being connected in series on switching motor rotor, switches very frequently, its fault rate remains high.
In addition due to the full mistake of material grasping by all by manual operation, promote and open and close steel rope stressed for grabbing bucket and be difficult to reach balanced and control, be prone to the phenomenons such as wire cable rupture, motor be impaired.The problems referred to above had both increased maintenance capacity and had also brought loss to a certain degree to production.Four rope grab connects with motor by steel rope, unfixing contacting between main hoisting and switching motor, there is no suitable detector switch, each stage in the overall process of grab bucket crawl material, it is all different requiring the situation of exerting oneself of two motors, need to constantly change the mode of motor and the situation of exerting oneself, but traditional crosstalk resistance mode cannot meet the requirement of this Torque Control, the coordination of the main hoisting of therefore grabbing bucket and switching two electrical motors relies on driver's skill level and operant level completely.So driver's labour intensity is large, attention needs high concentration, easily tired, and particularly night work is all the more so.
Along with the development of Computer Control Technology, ac speed control technology and Power Electronic Technique, ensureing that under the prerequisite of device security use, reliability service, in actual production, user generally requires to improve operating efficiency, degree of automation, energy-saving effect and the minimizing maintenance capacity of bridge-type hoisting crane.In converter technique flourish today, Frequency Drive has replaced the type of drive such as crosstalk resistance, self-excitation speed governing in the past, has realized smooth running and soft start, low fault high efficiency drives.Programmable Logic Controller is also widely used among the control system of clamshell crane, no matter is adopt traditional crosstalk resistance type of drive or adopt frequency converter type of drive, all needs to scrutinize the requirement that the closed each process of grab bucket is exerted oneself to motor.Some Domestic grab crane has adopted PLC and frequency converter at present, but does not solve above-described key problem, thus still cannot solve the problem that original system exists, and because drg control is unreasonable, cause the problems such as frequency converter frequently burns.
the problem that traditional control method exists:comprehensive industry characteristic, mainly there is following problem in traditional grab bucket control at present: 1, grab bucket driving system is by close mechanism, lift system two parts composition, the hoisting capacity of two cover systems is respectively according to 60% design of grab bucket hoisting capacity, in lifting process at the uniform velocity, respectively bear 50% power, in working process, if sternly grab bucket closure does not enter the improvement stage and can cause material to omit, can cause again loop system independently to bear the power of the lifting capacity that is greater than 50% if promote evening, in the course of time, can cause the motor of close mechanism, the life-span of steel rope etc. shortens, same: in the process of adjustment two motors, if lifting motor moves in advance, can cause again the overload of the drive system of lifting motor,
2,when grab bucket captures material, bucket body is placed in material surface, if lifting motor steel rope keeps overrelaxation's state, can cause steel rope releasing slots position, winding, if instead lifting motor steel rope keeps the motionless state of tension, when grab bucket is closed, the material capturing again very little, now need driver in crawl process, to use some flowing modes constantly to adjust the grab bucket position guarantee material grasping that completely struggles against, this crosses range request driver and has higher operating experience, and labour intensity is large, very difficult guarantee can reach requirement at every turn;
3,in the time using variable frequency control motor, open and close the time according to handle instruction time delay control drg simply, not only program is loaded down with trivial details, and very unreasonable, easily cause locking while slipping hook and high torque, cause motor, frequency converter overload, crawl process is also difficult to carry out smoothly.In the rational situation of drg, the contradiction of above-mentioned Section 2 is still difficult to solve;
4,in the time that frequency converter is set to V/F control, the good torque while being difficult to meet low speed, in the time that frequency converter is set to vector master mode, the mechanical specialities of motor is very hard, now, is difficult to ensure that two motors under Frequency Converter Control will reach moment balance;
5,in grab bucket control process, require frequency converter to need different exerting oneself in each stage, rely on separately frequency converter and cannot meet the need of work of grab bucket.
In sum, traditional mode is not singly that running part exists defect, and control system also exists the irrational factor of control logic.
Summary of the invention
For solve with
ondescribed drawback, concrete solution of the present invention is as follows: a kind of electric control system of bridge grabbing crane, the electric control system of bridge grabbing crane comprises: frequency converter solves the requirement of driving system, reach the requirement of logic control with programmable controller (PLC) and rotary encoder cooperation, imitate the method for operation of experienced operating personal with software, coordinated the overall process of crawl with frequency converter.The electric control system of bridge grabbing crane, is characterised in that and adopts the CJ1M series of PLC of Omron Corp as control core.The electric control system of bridge grabbing crane, is characterised in that the anglec of rotation that detects two motors with E6C2 type rotary encoder, is arranged on two motor shafts or in drum shaft.The electric control system of bridge grabbing crane, selects two 3G3RV-ZV1 Series Frequency Converter drive motor.The electric control system of bridge grabbing crane, while considering more change steel rope, by the function of traditional control method work in program.
Advantage of the present invention is to have solved in the control of grab bucket tradition to have knotty problem, has reduced the fault rate of equipment, has reduced the working strength of operating personal, has improved the work efficiency of grab crane, facts have proved practical.
Brief description of the drawings
Fig. 1 is the electric control system figure of bridge grabbing crane.
detailed description of the invention explanation
First 3G3RV-ZV1 type frequency converter has open loop vector control function, under open loop vector mode, speed adjustable range can reach: 1:100, and velocity control accuracy reaches 0.2%, there is low-speed high-torque and moment restriction function, meet the requirement that claw bucket sling is exerted oneself to motor completely.
Two frequency converters are all with open loop vector work pattern, and frequency instruction comes from the multistage speed instruction of the switching value output of PLC.
Built-in 10 inputs of CPU of CJ1M-CPU22 type PLC, 6 outputs.Wherein input comprises 4 interrupting inputs or 2 high-speed counter inputs (single-phase 100Khz or poor phase 50Khz), and output packet is controlled output, interior set control function containing 2 pulse output 100Khz.The function block function that CJ1M has, in programming process, can reduce the duplication of labour of identical function program.
Two rotary encoders are linked into two high-speed counter input ports of CPU, by PLC hardware, the impulse singla of two rotary encoders are counted, and calculate the difference of diaxon, judge the closure state of grab bucket with this.
Far away to control housing conductor spacing from dolly, E6C2 type coder must adopt Linear Driving output type, to ensure long-distance nondestructive lost territory transmission impulse singla.
Master controller adopts monolever criss-cross handle, according to the operating habit in industry, the operating position of determining handle represents respectively: two motors synchronously rise, two motors are opened bucket when synchronously declining, promoting, close bucket while promoting, close bucket while opening bucket, decline while declining, static bucket, the static bucket that closes opened, program is establishment accordingly also, PLC according to two transducer drive motors of command assignment of handle by the predetermined situation of exerting oneself cooperating.
In the situation that capturing material, when bucket body approaches material, handle is beaten to closing when bucket and is declined, now, PLC controls and closes bucket motor closed contact, and lifting motor is with little moment tense wire rope, guarantee there will not be silk rope to deviate from pulley and drum grooves position, cause coiling, can ensure to capture again time, bucket body can sink in material with its deadweight, reach the object of full bucket feeding, the usually said heavy function of grabbing that Here it is.
In the time that bucket body moves closer to closure, the moment of lifting motor starts to increase, and after complete closure, lifting motor moves with full moment, and with closed motor synchronized operation, now program is ignored the crawl material position of handle, automatically proceeds to synchronous propradation.Reduce the requirement of the operant level to driver.
Due to heavy employing of grabbing function, also brought new problem, that is exactly in the time that bucket body approaches ground, bucket body can be grabbed and be scraped ground, especially cement or fire brick have been laid in some ground, if grab bad ground, not only in material, sneak into unnecessary foreign material, also can cause place to damage, now just need take the function of lower limit, in the time that PLC detects that bucket body reaches lower limit, do not re-use to sink and grab function, but imitate experienced driver's manually operated alternative, automatic segmentation completes crawl process, both ensure to grab clean material, ensured not grab again bad ground.
In above working process, the signal that PLC detects according to rotary encoder, automatically distribute the work of the frequency of operation of frequency converter and exert oneself state and drg, make the co-ordination rapidly of two motors, smooth excessiveness between each stage of overall process, while there will not be manual operation, significantly pause and phenomenon repeatedly, and two motors, the two secondary steel ropes uniform balance of exerting oneself.
Make full use of frequency converter to defencive function motor and that self is perfect, as overheated, overload, overcurrent, overvoltage, phase shortage, ground connection etc., thereby avoid equipment long-play under abnormal state, protection equipment is not damaged.Failure message is indication fault point exactly, is very easy to service personnel trouble-shooting.
In programming, can utilize function block to write the functional block program of each stages operating, in main program, call different functional block programs according to handle and the status signal detecting, make program become simple readability, improve widely programming efficiency, also facilitated on-the-spot debugging.
Claims (4)
1. the present invention relates to a kind of electric control system of bridge grabbing crane, the electric control system of bridge grabbing crane comprises: frequency converter solves the requirement of driving system, reach the requirement of logic control with programmable controller (PLC) and rotary encoder cooperation, imitate the method for operation of experienced operating personal with software, coordinated the overall process of crawl with frequency converter.
2. the electric control system of bridge grabbing crane according to claim 1, is characterized in that adopting the CJ1M series of PLC of Omron Corp as control core.
3. the electric control system of bridge grabbing crane according to claim 1, is characterized in that adopting E6C2 type rotary encoder to detect the anglec of rotation of two motors, is arranged on two motor shafts or in drum shaft,
According to claim 1, the electric control system of bridge grabbing crane, is characterized in that selecting two 3G3RV-ZV1 Series Frequency Converter drive motor.
4. the electric control system of bridge grabbing crane according to claim 1, while is characterized in that considering in program more change steel rope, by the function of traditional control method work.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310067743.6A CN104030167A (en) | 2013-03-04 | 2013-03-04 | Electric control system for bridge grabbing crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310067743.6A CN104030167A (en) | 2013-03-04 | 2013-03-04 | Electric control system for bridge grabbing crane |
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| CN104030167A true CN104030167A (en) | 2014-09-10 |
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| CN201310067743.6A Pending CN104030167A (en) | 2013-03-04 | 2013-03-04 | Electric control system for bridge grabbing crane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106546211A (en) * | 2016-12-29 | 2017-03-29 | 中交天津港航勘察设计研究院有限公司 | A kind of grab boat grab bucket attitude measurement system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1129356A (en) * | 1914-03-23 | 1915-02-23 | John Madill | Rock-grab. |
| US1218826A (en) * | 1914-05-09 | 1917-03-13 | Hayward Co | Bucket. |
| US1350053A (en) * | 1919-08-01 | 1920-08-17 | Awischus August | Lifting-grapple |
| US1356515A (en) * | 1919-06-17 | 1920-10-26 | Stuart R Burgson | Grappling-tongs |
| CN201980859U (en) * | 2011-04-11 | 2011-09-21 | 杭州电子科技大学 | Electric four-leaf hydraulic grab bucket |
-
2013
- 2013-03-04 CN CN201310067743.6A patent/CN104030167A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1129356A (en) * | 1914-03-23 | 1915-02-23 | John Madill | Rock-grab. |
| US1218826A (en) * | 1914-05-09 | 1917-03-13 | Hayward Co | Bucket. |
| US1356515A (en) * | 1919-06-17 | 1920-10-26 | Stuart R Burgson | Grappling-tongs |
| US1350053A (en) * | 1919-08-01 | 1920-08-17 | Awischus August | Lifting-grapple |
| CN201980859U (en) * | 2011-04-11 | 2011-09-21 | 杭州电子科技大学 | Electric four-leaf hydraulic grab bucket |
Non-Patent Citations (1)
| Title |
|---|
| 郭志年等: "抓斗桥式起重机的数字化改造", 《可编程控制器与工厂自动化》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106546211A (en) * | 2016-12-29 | 2017-03-29 | 中交天津港航勘察设计研究院有限公司 | A kind of grab boat grab bucket attitude measurement system |
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Application publication date: 20140910 |
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