Method for automatically reading balance point of four-bar mechanism of gantry crane

Abstract

The invention discloses a method for automatically reading a balance point of a four-bar mechanism of a gantry crane, which is characterized by comprising the following steps of: mounting an absolute value encoder on a transmission shaft of a variable amplitude mechanism of a gantry crane to obtain a real-time measurement result of an amplitude value of the variable amplitude mechanism; the waveform display unit displays the waveform corresponding to the output torque of the variable amplitude motor, if the waveform of the output torque of the variable amplitude motor changes between the positive value and the negative value and the moment point when the output torque is zero appears, it is judged that the variable amplitude process passes through the balance point, and otherwise, it is judged that the variable amplitude process does not pass through the balance point. The method can provide a more effective and scientific basis for general technicians to reversely detect whether the selection of the hinge points of the four-bar linkage structure is accurate or not and reversely verify whether the weight of the balance weight is reasonable or not, is low in implementation cost, can be realized through automatic control, is high in intelligent degree, is high in practicability, and is suitable for popularization and application. And the safety of crane equipment operation and the convenience of inspection work are greatly improved.

Description

technical field [0001] The invention relates to the technical field of loading and unloading equipment, in particular to a method for automatically reading the balance point of a four-bar linkage mechanism of a portal crane. Background technique [0002] Portal cranes are widely used in the loading and unloading of bulk cargo terminals, such as: coal, minerals, grain, sand, etc. Among them, the four-link portal crane is the most common port equipment in bulk cargo handling operations and is widely used. [0003] The hinge points and counterweight structure of the four-link portal machine are generally designed by professional engineers according to the technical requirements in the specification, such as the amplitude parameters of the luffing mechanism (11~38 meters), the lifting load parameters (40t), variable After the performance parameters such as the speed parameter (60m / min) of the web mechanism, a complete set of four-link structure of the portal crane is designed a...

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Problems solved by technology

[0003] The hinge points and counterweight structure of the four-link portal machine are generally designed by professional engineers according to the technical requirements in the specification, such as the amplitude parameters of the luffing mechanism (11~38 meters), the lifting load parameters (40t), variable After the performance parameters such as the speed parameter (60m / min) of the web mechanism, a complete set of four-link structure of the portal crane is designed after scientific demonstrations based on design specifications, national implementation standards, theoretical calculations, structural mechanics, and force analysis. and counterweight drawings, and in the calculation of the four-link structure hinge point and counterweight structure, some value coefficients have different values ​​according to different situations, which will cause different calculation results. In the process, factors such as the welding process of structural parts, manufacturing process, level of installation workers, professional technical ability, steel material characteristics, hinge point error of four-link structure, length error of counterweight force arm, size of counterweight weight, etc., finally will affect the overall stability of the organization

[0006] The selection of the hinge point of the four-link structure requires a high level of professional technology and strong theoretical calculation skills. Due to the influence of factors such as coefficients and experience, the results calculated by different people or under different circumstances may be different, and The result of such a situation is not only uneven stress on the four-link structure and poor stability performance, but also an increase in the fatigue coefficient of the steel structure of the four-link door machine equipment and a reduction in the service life of the equipment. However, general technicians at the wharf cannot verify the data dimensions such as hinge points and counterweight parameters of the four-link structure

Although an inclination sensor for measuring the luffing angle is installed at the lower hinge point of the four-link boom, based on the linear relationship between the luffing angle and the luffing range, the driver can observe and apply the information fed back by the sensor in real time when operating the luffing command , but neither the driver nor the maintenance personnel can judge which amplitude value is the balance point position of the mechanism based on the feedback from the sensor

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