Crane grab bucket control method and device

Abstract

The invention discloses a crane grab bucket control method. The control method is used for controlling a lifting motor and an opening and closing motor, and comprises the following steps: when a grabbucket is positioned below a material surface, a bucket closing instruction is received, and whether an excavation instruction is received or not is judged; if it is judged that the excavation instruction is received, the lifting motor is controlled to work in a torque control mode, the opening and closing motor is controlled to work in a speed control mode, and the grab bucket is driven by the lifting motor and the opening and closing motor together to grab materials; and if it is judged that the excavation instruction is not received, the lifting motor is controlled to be closed, the openingand closing motor is controlled to work in a speed control mode, and the grab bucket is driven by the opening and closing motor to grab materials. According to the control method, direct torque control can be adopted for the lifting motor, and the tension of a steel wire rope is controlled more directly and accurately in control logic to achieve the excavation function. The invention further provides a crane grab bucket control device.

Description

technical field [0001] The invention relates to the field of crane control, in particular to a control method and device for a crane grab. Background technique [0002] With the development of frequency conversion technology, frequency conversion technology is also widely used in the field of motor drive of cranes. Traditional inverters using vector control control the speed of the motor to maintain the cable tension of the hoisting motor when the grab grabs materials. When the grab is in the closed bucket grabbing process, the tension of the hoisting wire rope is detected in real time. When the tensioning torque of the hoisting wire rope is detected to be too large, the rope will be automatically released quickly to realize the movement of the grab bucket. ; When it is detected that the tensioning torque of the hoisting wire rope is too small, it will automatically and quickly retract the rope to achieve the purpose of quickly tensioning the wire rope. The entire grab-clo...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that it is difficult to accurately control the tension of the steel wire rope when the grab grabs the material

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