An intelligent correction device and method for steel wire rope of unmanned grab crane

Abstract

The present invention discloses an intelligent wire rope correction device and method for an unmanned grab crane, wherein a first electronic detection device is used to obtain a first detection signal, and a second electronic detection device is used to obtain a second detection signal. The PLC system controls the trolley frequency converter and the trolley frequency converter to drive the trolley travel mechanism and the trolley travel mechanism to move according to the first detection signal and the second detection signal, respectively, thereby correcting the positions of the first wire rope, the third wire rope, the second wire rope, and the fourth wire rope. The present invention can prevent the wire rope from being out of the groove when the grab crane is lifting, eliminates skewed pulling and slanting, improves work efficiency, and ensures a full bucket rate. It ensures the safe operation of the equipment, effectively protects the wire rope from wire breakage and reduced lifespan caused by skewed pulling and slanting, and saves maintenance costs.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to an intelligent correction device and method for a steel wire rope of an unmanned grab crane. Background Art

[0002] An unmanned grab crane moves to a designated stockpile to grab material. Due to the varying shapes of the pile beneath the overhead crane, it's difficult to predict the position of the grab bucket after it lands. This can easily lead to the grab bucket tilting and the wire rope pulling at an angle. If the overhead crane continues to grab material without making any adjustments, it can easily cause the wire rope to derail or even become entangled and break, seriously compromising equipment safety, increasing maintenance costs, and reducing production efficiency.

[0003] Existing technical solutions require a detection device installed beneath the drum. The wire rope hits the detection device when it tilts. The installed detection device is fixed and difficult to adjust. It only hits the detection device when the wire rope tilts to a certain angle, making on-site installation and commissioning time-consuming and labor-intensive. Furthermore, existing detection devices only intelligently determine the left-right tilt of the grab bucket, but tilting the grab bucket forward and backward can also cause safety accidents. Therefore, a device that can fully detect and adjust the tilt of the wire rope connected to the grab bucket is urgently needed. Summary of the Invention

[0004] The present invention provides an intelligent correction device and method for a steel wire rope of an unmanned grab crane, so as to overcome the above technical problems.

[0005] In order to achieve the above object, the technical solution of the present invention is:

[0006] An intelligent wire rope correction device for an unmanned grab crane includes: a first electronic detection device, a second electronic detection device, a large vehicle frequency converter, a small vehicle frequency converter, and a PLC system;

[0007] The first electronic detection device is used to obtain a first detection signal, which includes a deviation signal of a first steel wire rope arranged on the opening and closing mechanism drum and a deviation signal of a third steel wire rope arranged on the lifting mechanism drum (500); the deviation signal of the first steel wire rope / third steel wire rope is a signal when the first steel wire rope / third steel wire rope has an intersection with the first detection area of the first electronic detection device;

[0008] The second electronic detection device is used to obtain a second detection signal, which includes a deviation signal of a second steel wire rope provided on the opening and closing mechanism drum and a deviation signal of a fourth steel wire rope provided on the lifting mechanism drum; the deviation signal of the second steel wire rope / fourth steel wire rope is a signal generated when the second steel wire rope / fourth steel wire rope intersects a second detection area of the second electronic detection device;

[0009] The PLC system acquires the first detection signal and the second detection signal respectively to respectively realize real-time monitoring of the working status of the first steel wire rope, the third steel wire rope, the second steel wire rope and the fourth steel wire rope;

[0010] The PLC system controls the trolley frequency converter and the trolley frequency converter according to the first detection signal and the second detection signal, respectively, so as to drive the trolley traveling mechanism and the trolley traveling mechanism to move by respectively controlling the trolley frequency converter and the trolley frequency converter, thereby correcting the positions of the first wire rope, the third wire rope, the second wire rope and the fourth wire rope.

[0011] Furthermore, it also includes a first intermediate relay K1 and a third intermediate relay K3;

[0012] The PLC system obtains the first detection signal through the first intermediate relay K1; and realizes real-time monitoring of the working status of the first steel wire rope and the third steel wire rope;

[0013] The PLC system obtains the second detection signal through the third intermediate relay K3 to achieve real-time monitoring of the working status of the second steel wire rope and the fourth steel wire rope.

[0014] Furthermore, it also includes a second intermediate relay K2 and a fourth intermediate relay K4;

[0015] The PLC system obtains the first fault detection signal of the first electronic detection device through the second intermediate relay K2 to achieve real-time monitoring of the fault state of the first electronic detection device;

[0016] The PLC system obtains the second fault detection signal of the second electronic detection device through the fourth intermediate relay K4, so as to realize real-time monitoring of the fault state of the second electronic detection device.

[0017] Furthermore, the first electronic detection device and the second electronic detection device are both commonly used laser 2D sensors.

[0018] Furthermore, the first electronic detection device and the second electronic detection device are both fixed below the end portion of one side of the trolley traveling mechanism where the lifting mechanism drum is provided.

[0019] An intelligent correction method for an unmanned grab crane wire rope intelligent correction device comprises the following steps:

[0020] S1: Establish a rectangular coordinate system with the location of the first electronic detection device as the coordinate origin O, the detection direction of the first electronic detection device parallel to the main beam as the positive direction of the x-axis, the direction facing the second electronic detection device as the positive direction of the y-axis, and the vertical downward direction as the positive direction of the z-axis;

[0021] S2: Set the maximum detection distance D of the first electronic detection device / the second electronic detection device max , the minimum detection distance D of the first electronic detection device / the second electronic detection device min , the distance between the highest detection point of the first electronic detection device / the second electronic detection device and the ground Borderup and the distance between the lowest detection point of the first electronic detection device / the second electronic detection device and the ground Border down , determining a first detection area of the first electronic detection device and a second detection area of the second electronic detection device;

[0022] S3: Determine the running direction of the trolley travel mechanism based on whether there is an intersection between the first steel wire rope / third steel wire rope and the first detection area and an intersection between the second steel wire rope / fourth steel wire rope and the second detection area;

[0023] S4: The coordinates of the intersection of the first steel wire rope / the third steel wire rope and the first detection area A (x A ,y A ,z A ) and the intersection coordinates B(x B ,y B ,z B ), determine the direction of the car's movement;

[0024] S5: the trolley traveling mechanism operates according to the operating logic of the trolley traveling mechanism to correct the deviation of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope in the direction of the trolley track;

[0025] S6: The trolley traveling mechanism operates according to the operating logic of the trolley traveling mechanism to correct the offset of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope in the direction of the trolley track.

[0026] Furthermore, in S3, the method for determining the running direction of the vehicle traveling mechanism is as follows:

[0027] If there is an intersection coordinate A(x A ,y A ,z A ), the trolley travel mechanism moves in the negative direction of the y-axis;

[0028] If there is an intersection coordinate B(x B ,y B ,z B ), the trolley travel mechanism moves in the positive direction of the y-axis;

[0029] Otherwise, the trolley travel mechanism will not move;

[0030] Wherein, the first detection area is set to:

[0031]

[0032] Where: x A is the coordinate of the intersection point A on the x-axis; y A is the coordinate of the intersection point A on the y-axis; z A is the coordinate of the intersection point A on the z-axis; x4 is the maximum coordinate of the first detection area / the second detection area on the x-axis, x4 = D max ; x3 is the minimum coordinate of the first detection area / the second detection area on the x-axis, x3 = D min y1 is the coordinate of the first detection area / second detection area on the y-axis; z1 is the minimum coordinate of the first detection area / second detection area on the z-axis, z1 = D-Borderup; z2 is the maximum coordinate of the first detection area / second detection area on the z-axis, z2 = D-Borderup down ; Wherein, D is the distance between the first electronic detection device / the second electronic detection device and the ground; x a is the coordinate of any point in the first detection area on the x-axis; a is the coordinate of any point in the first detection area on the y-axis; a is the coordinate of any point in the first detection area on the z-axis;

[0033] The second detection area is set to:

[0034]

[0035] Where: x B is the coordinate of the intersection point B on the x-axis; y B is the coordinate of the intersection point B on the y-axis; z B is the coordinate of the intersection point B on the z-axis; x4 is the maximum coordinate of the first detection area / the second detection area on the x-axis, x4 = D max ; x3 is the minimum coordinate of the first detection area / the second detection area on the x-axis, x3 = D min ; y1 is the coordinate of the first detection area / second detection area on the y-axis; z1 is the minimum coordinate of the first detection area / second detection area on the z-axis, z1 = D-Borderup; z2 is the maximum coordinate of the first detection area / second detection area on the z-axis, z2 = D-Border down ; Wherein, D is the distance between the first electronic detection device / the second electronic detection device and the ground; x b is the coordinate of any point in the second detection area on the x-axis; bis the coordinate of any point in the second detection area on the y-axis; b is the coordinate of any point in the second detection area on the z-axis; j is the coordinate of the second electronic detection device on the y-axis.

[0036] Furthermore, in S4, the method for determining the traveling direction of the trolley traveling mechanism is:

[0037] If there exists x2≤x A ≤x4 or x2≤x B When ≤x4, the trolley travel mechanism moves in the positive direction of the x-axis;

[0038] If there exists x3≤x A ≤x1 or When , the trolley travel mechanism moves toward the negative direction of the x-axis;

[0039] Otherwise, the trolley travel mechanism does not move.

[0040] Wherein: x1 is the coordinate of the third steel wire rope / fourth steel wire rope in the x-axis direction, and x2 is the coordinate of the first steel wire rope / second steel wire rope in the x-axis direction.

[0041] Furthermore, in S5, the operating logic of the trolley travel mechanism is:

[0042] When there is an intersection coordinate A(x A ,y A ,z A ), the first intermediate relay K1 is energized, and the signal of the first intermediate relay is transmitted to the PLC system. The PLC system controls the trolley inverter to rotate in the clockwise direction, and drives the trolley travel mechanism to move in the negative direction of the y-axis through the trolley motor;

[0043] When there is an intersection coordinate B(x B ,y B ,z B ), the third intermediate relay K3 is energized, and the third intermediate relay signal is transmitted to the PLC system, and the PLC system controls the trolley inverter to rotate counterclockwise, and drives the trolley travel mechanism to move in the positive direction of the y-axis through the trolley motor;

[0044] Otherwise the trolley traveling mechanism will not move.

[0045] Furthermore, in S6, the operating logic of the trolley travel mechanism is:

[0046] If there exists x2≤x AWhen ≤x4, the first intermediate relay K1 is energized, and the signal of the first intermediate relay is transmitted to the PLC system. The PLC system controls the trolley inverter to rotate counterclockwise, and drives the trolley travel mechanism to move along the positive direction of the x-axis through the trolley motor;

[0047] Or x2≤x B When ≤x4, the third intermediate relay K3 is energized, and the signal of the third intermediate relay is transmitted to the PLC system. The PLC system controls the trolley inverter to rotate counterclockwise, and drives the trolley travel mechanism to move along the positive direction of the x-axis through the trolley motor;

[0048] If there exists x3≤x A When ≤x1, the first intermediate relay K1 is energized, and the signal of the first intermediate relay is transmitted to the PLC system. The PLC system controls the trolley inverter to rotate in the clockwise direction, and drives the trolley travel mechanism to move in the negative direction of the x-axis through the trolley motor;

[0049] If there exists x3≤x B When ≤x1, the third intermediate relay K3 is energized, and the signal of the third intermediate relay is transmitted to the PLC system. The PLC system controls the trolley inverter to rotate in the clockwise direction, and drives the trolley travel mechanism to move in the negative direction of the x-axis through the trolley motor;

[0050] Otherwise the trolley travel mechanism will not move.

[0051] Beneficial effects:

[0052] The present invention provides an intelligent wire rope correction device and method for an unmanned grab crane. By installing a first electronic detection device and a second electronic detection device in the direction of a reel on one side, the working status of the first, third, second, and fourth wire ropes are respectively monitored in real time. The monitoring signal is transmitted to a PLC system, which then controls a trolley frequency converter or a trolley frequency converter to drive the trolley travel mechanism or the trolley travel mechanism to move and adjust the inclination angle of the wire rope. This prevents the wire rope from coming out of the groove during grab lifting, eliminates skewed pulling and slanting, improves work efficiency, and ensures a full bucket rate. This ensures the safe operation of the equipment, effectively protects the wire rope from wire breakage and reduced lifespan caused by skewed pulling and slanting, and saves maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0054] Figure 1 This is a front view of the intelligent correction device for the wire rope of an overhead crane in an embodiment of the present invention;

[0055] Figure 2 A side view of an intelligent correction device for a crane wire rope in an embodiment of the present invention;

[0056] Figure 3 It is an oblique view of the intelligent correction device for the wire rope of the overhead crane in an embodiment of the present invention;

[0057] Figure 4 Schematic diagram of the PLC system control of the intelligent correction device for the wire rope of the overhead crane in an embodiment of the present invention;

[0058] Figure 5 Schematic diagram of signal acquisition of the intelligent correction device for the wire rope of the overhead crane in an embodiment of the present invention;

[0059] Figure 6 This is a flow chart of the implementation of the intelligent correction device for the overhead crane wire rope in an embodiment of the present invention.

[0060] Among them: 100, trolley traveling mechanism; 101, trolley track; 200, trolley traveling mechanism; 102, main beam; 300, grab; 201, trolley track; 400, opening and closing mechanism drum; 500, lifting mechanism drum; 401, first steel wire rope; 402, second steel wire rope; 501, third steel wire rope; 502, fourth steel wire rope; 601, first electronic detection device; 602, second electronic detection device. DETAILED DESCRIPTION

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0062] In this embodiment, the overhead crane PLC system, intermediate relay, and trolley mechanism frequency converter are combined to realize the function of automatically correcting the grab bucket wire rope when it deviates.

[0063] An intelligent correction device for the wire rope of an unmanned grab crane, such as Figure 1-5As shown, it includes: a trolley traveling mechanism 100, a trolley track 101, a trolley motor, a trolley traveling mechanism 200, a trolley motor, and a grab bucket 300; the trolley track 101 is erected above the working area; the trolley traveling mechanism 100 is driven by the trolley motor to move along the trolley track 101; the trolley traveling mechanism 100 is provided with a main beam 102 perpendicular to the trolley track 101; the main beam 102 is provided with a trolley track 201; the trolley traveling mechanism 200 is driven by the trolley motor to move along the trolley track 201; the opening and closing mechanism drum 400 and the lifting mechanism drum 500 are fixedly provided on the trolley traveling mechanism 20 ... The mechanism drum 400 is provided with a first steel rope 401 and a second steel rope 402, and the other ends of the first steel rope 401 and the second steel rope 402 are connected to the grab bucket 300 to realize the opening and closing states of the grab bucket 300; the lifting mechanism drum 500 is provided with a third steel rope 501 and a fourth steel rope 502, and the other ends of the third steel rope 501 and the fourth steel rope 502 are connected to the grab bucket 300 to realize the raising and lowering states of the grab bucket 300; it includes: a first electronic detection device 601, a second electronic detection device 602, a trolley frequency converter, a small trolley frequency converter, a PLC system; a first intermediate relay K1, and a third intermediate relay K3;

[0064] The first electronic detection device 601 and the second electronic detection device 602 are both fixedly arranged below the trolley travel mechanism 200; the first electronic detection device 601 is used to obtain a first detection signal, which includes an offset signal of the first steel wire rope 401 provided on the opening and closing mechanism drum 400 and an offset signal of the third steel wire rope 501 provided on the lifting mechanism drum 500; the offset signal of the first steel wire rope 401 / the third steel wire rope 501 is a signal generated when the first steel wire rope 401 / the third steel wire rope 501 intersects the first detection area of the first electronic detection device 601;

[0065] The second electronic detection device 602 is used to obtain a second detection signal, which includes an offset signal of the second steel wire rope 402 arranged on the opening and closing mechanism drum 400 and an offset signal of the fourth steel wire rope 502 arranged on the lifting mechanism drum 500; the offset signal of the second steel wire rope 402 / fourth steel wire rope 502 is a signal when the second steel wire rope 402 / fourth steel wire rope 502 intersects with the second detection area of the second electronic detection device 602; specifically, the offset signal in this embodiment refers to the offset angle signal of the steel wire rope with the vertical direction.

[0066] The PLC system obtains the first detection signal and the second detection signal respectively to respectively realize real-time monitoring of the working status of the first steel wire rope 401, the third steel wire rope 501, the second steel wire rope 402 and the fourth steel wire rope 502;

[0067] The PLC system controls the trolley frequency converter and the trolley frequency converter according to the first detection signal and the second detection signal, respectively, so as to drive the trolley traveling mechanism and the trolley traveling mechanism to move through the trolley frequency converter and the trolley frequency converter, thereby correcting the positions of the first steel wire rope 401, the third steel wire rope 501, the second steel wire rope 402 and the fourth steel wire rope 502.

[0068] Preferably, the PLC system obtains the first detection signal through the first intermediate relay K1 to implement real-time monitoring of the working status of the first steel wire rope 401 and the third steel wire rope 501;

[0069] The PLC system obtains the second detection signal through the third intermediate relay K3 to monitor the working status of the second steel wire rope 402 and the fourth steel wire rope 502 in real time.

[0070] Specifically, the first electronic detection device 601 is connected to the first intermediate relay K1 to transmit the first detection signal to the first intermediate relay K1 to obtain the first intermediate relay signal;

[0071] The first intermediate relay K1 is connected to the PLC system to transmit the first intermediate relay signal to the PLC system, thereby realizing real-time monitoring of the status of the first steel rope 401 and the third steel rope 501 and obtaining the first PLC control signal;

[0072] The second electronic detection device 602 is connected to the third intermediate relay K3 to transmit the second detection signal to the third intermediate relay K3 to obtain the third intermediate relay signal;

[0073] The third intermediate relay K3 is connected to the PLC system to transmit the third intermediate relay signal to the PLC system, thereby realizing real-time monitoring of the working status of the second steel wire rope 402 and the fourth steel wire rope 502 and obtaining the second PLC control signal;

[0074] The PLC system is connected to the trolley frequency converter and the trolley frequency converter respectively to control the opening and closing of the trolley frequency converter according to the first PLC control signal; and to control the opening and closing of the trolley frequency converter according to the second PLC control signal; the specific PLC system in this embodiment is a conventional technology in the field and is only used to realize the functions of this embodiment and is not described in detail here.

[0075] The trolley frequency converter is connected to the trolley motor;

[0076] The trolley frequency converter is connected to the trolley motor.

[0077] Preferably, it further includes a second intermediate relay K2 and a fourth intermediate relay K4; the second intermediate relay K2 is connected to the first electronic detection device 601 and the PLC system respectively to obtain a first fault detection signal of the first electronic detection device 601, and transmits the first fault detection signal to the PLC system to obtain a third PLC control signal;

[0078] The fourth intermediate relay K4 is connected to the second electronic detection device 602 and the PLC system respectively to obtain a second fault detection signal from the second electronic detection device 602, and transmits the second fault detection signal to the PLC system to obtain a fourth PLC control signal.

[0079] Preferably, both the first electronic detection device 601 and the second electronic detection device 602 in this embodiment are laser 2D sensors. The fault self-diagnosis function of the laser 2D sensor in this embodiment is an inherent function of the sensor. Specific parameters include: effective alarm range of 8m, scanning angle of 270 degrees, angular resolution of 0.5 degrees, response time of 20-220ms, Class I laser personnel safety (IEC 60825-1), and three output interfaces for diagnostic information.

[0080] Preferably, the first electronic detection device 601 and the second electronic detection device 602 described in this embodiment are both fixed below the end portion of one side of the trolley traveling mechanism 200 where the lifting mechanism drum 500 is provided.

[0081] This embodiment also discloses an intelligent correction method for the steel wire rope of an unmanned grab crane. Figure 6 As shown, the following steps are included:

[0082] S1: Establish a rectangular coordinate system with the location of the first electronic detection device 601 as the coordinate origin O, the detection direction of the first electronic detection device 601 parallel to the main beam 102 as the positive direction of the x-axis, the direction facing the second electronic detection device 602 as the positive direction of the y-axis, and the vertical downward direction as the positive direction of the z-axis;

[0083] S2: Setting the maximum detection distance D of the first electronic detection device 601 / the second electronic detection device 602 max , the minimum detection distance D of the first electronic detection device 601 / the second electronic detection device 602 min, the distance Borderup between the highest detection point of the first electronic detection device 601 / the second electronic detection device 602 and the ground and the distance Border between the lowest detection point of the first electronic detection device 601 / the second electronic detection device 602 and the ground down , determining a first detection area of the first electronic detection device and a second detection area of the second electronic detection device;

[0084] S3: Determine the running direction of the trolley traveling mechanism 100 based on whether there is an intersection between the first steel wire rope 401 / the third steel wire rope 501 and the first detection area and an intersection between the second steel wire rope 402 / the fourth steel wire rope 502 and the second detection area;

[0085] Preferably, in S3, the method for determining the running direction of the vehicle traveling mechanism 100 is as follows:

[0086] If there is an intersection coordinate A(x A ,y A ,z A ), the trolley traveling mechanism 100 moves in the negative direction of the y-axis;

[0087] If there is an intersection coordinate B (x B ,y B ,z B ), the trolley travel mechanism 100 moves in the positive direction of the y-axis;

[0088] Otherwise, the trolley traveling mechanism 100 does not move;

[0089] Wherein, the first detection area is set to:

[0090]

[0091] Where: x A is the coordinate of the intersection point A on the x-axis; y A is the coordinate of the intersection point A on the y-axis; z A is the coordinate of the intersection point A on the z-axis; x4 is the maximum coordinate of the first detection area / the second detection area on the x-axis, x4 = D max ; x3 is the minimum coordinate of the first detection area / the second detection area on the x-axis, x3 = D min y1 is the coordinate of the first detection area / second detection area on the y-axis; z1 is the minimum coordinate of the first detection area / second detection area on the z-axis, z1 = D-Borderup; z2 is the maximum coordinate of the first detection area / second detection area on the z-axis, z2 = D-Borderup down; Wherein, D is the distance between the first electronic detection device / the second electronic detection device and the ground; x a is the coordinate of any point in the first detection area on the x-axis; a is the coordinate of any point in the first detection area on the y-axis; a is the coordinate of any point in the first detection area on the z-axis;

[0092] The second detection area is set to:

[0093]

[0094] Where: x B is the coordinate of the intersection point B on the x-axis; y B is the coordinate of the intersection point B on the y-axis; z B is the coordinate of the intersection point B on the z-axis; x4 is the maximum coordinate of the first detection area / the second detection area on the x-axis, x4 = D max ; x3 is the minimum coordinate of the first detection area / the second detection area on the x-axis, x3 = D min ; y1 is the coordinate of the first detection area / second detection area on the y-axis; z1 is the minimum coordinate of the first detection area / second detection area on the z-axis, z1 = D-Borderup; z2 is the maximum coordinate of the first detection area / second detection area on the z-axis, z2 = D-Border down ; Wherein, D is the distance between the first electronic detection device / the second electronic detection device and the ground; x b is the coordinate of any point in the second detection area on the x-axis; b is the coordinate of any point in the second detection area on the y-axis; b is the coordinate of any point in the second detection area on the z-axis; j is the coordinate of the second electronic detection device on the y-axis.

[0095] S4: The intersection coordinates A (x A ,y A ,z A ) and the intersection coordinates B (x B ,y B ,z B ), determine the direction of the car's movement;

[0096] Preferably, in S4, the method for determining the traveling direction of the trolley traveling mechanism 200 is:

[0097] If there exists x2≤x A ≤x4 or x2≤x BWhen ≤x4, the trolley travel mechanism 200 moves in the positive direction of the x-axis;

[0098] If there exists x3≤x A ≤x1 or When , the trolley travel mechanism 200 moves toward the negative direction of the x-axis;

[0099] Otherwise, the trolley traveling mechanism 200 does not move.

[0100] Wherein: x1 is the coordinate of the third steel wire rope 501 / the fourth steel wire rope 502 in the x-axis direction, and x2 is the coordinate of the first steel wire rope 401 / the second steel wire rope 402 in the x-axis direction.

[0101] S5: the trolley traveling mechanism operates according to the operating logic of the trolley traveling mechanism to correct the deviation of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope in the direction of the trolley track;

[0102] Preferably, in S5, the operation logic of the vehicle traveling mechanism 100 is:

[0103] When there is an intersection coordinate A(x A ,y A ,z A ), the first intermediate relay K1 is energized, and the first intermediate relay signal is transmitted to the PLC system, and the PLC system controls the trolley inverter to rotate in the clockwise direction, and drives the trolley travel mechanism 100 to move in the negative direction of the y-axis through the trolley motor;

[0104] When there is an intersection coordinate B (x B ,y B ,z B ), the third intermediate relay K3 is energized, and the third intermediate relay signal is transmitted to the PLC system, and the PLC system controls the trolley inverter to rotate in the counterclockwise direction, and drives the trolley travel mechanism 100 to move in the positive direction of the y-axis through the trolley motor;

[0105] Otherwise the trolley traveling mechanism 100 does not move.

[0106] S6: The trolley traveling mechanism operates according to the operating logic of the trolley traveling mechanism to correct the offset of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope in the direction of the trolley track.

[0107] Preferably, in S6, the operation logic of the trolley traveling mechanism 200 is:

[0108] If there exists x2≤x AWhen ≤x4, the first intermediate relay K1 is energized, and the signal of the first intermediate relay is transmitted to the PLC system. The PLC system controls the trolley inverter to rotate counterclockwise, and drives the trolley travel mechanism 200 to move along the positive direction of the x-axis through the trolley motor;

[0109] Or x2≤x B When ≤x4, the third intermediate relay K3 is energized, and the signal of the third intermediate relay is transmitted to the PLC system. The PLC system controls the trolley inverter to rotate counterclockwise, and drives the trolley travel mechanism 200 to move along the positive direction of the x-axis through the trolley motor;

[0110] If there exists x3≤x A When ≤x1, the first intermediate relay K1 is energized, and the signal of the first intermediate relay is transmitted to the PLC system. The PLC system controls the trolley inverter to rotate in the clockwise direction, and drives the trolley travel mechanism 200 to move in the negative direction of the x-axis through the trolley motor;

[0111] If exists When the third intermediate relay K3 is energized, the third intermediate relay signal is transmitted to the PLC system, and the PLC system controls the trolley inverter to rotate in the clockwise direction, and drives the trolley travel mechanism 200 to move in the negative direction of the x-axis through the trolley motor;

[0112] Otherwise the trolley traveling mechanism 200 does not move.

[0113] Specifically, the working principle of this embodiment is:

[0114] The first electronic detection device outputs a status point via the first intermediate relay K1 and a fault point via the second intermediate relay K2. The second electronic detection device outputs a status point via the third intermediate relay K3 and a fault point via the fourth intermediate relay K4. Both the first and second electronic detection devices are powered by a 24V DC voltage. The switching of the status and fault points drives the closing and opening of the intermediate relays. The first, second, third, and fourth intermediate relays K1, K2, K3, and K4, or the PLC system, are installed in a PLC control cabinet. When the K1 / K3 auxiliary contacts are connected to the PLC input module, the PLC system monitors the status of the first, second, third, and fourth wire ropes in real time. The PLC system controls the trolley and carriage inverters via Profinet communication, driving the trolley and carriage motors. This ultimately enables real-time adjustment of the positions of the trolley and carriage travel mechanisms. When the surface of the probe of the first electronic detection device / second electronic detection device is obviously dusty or there are other faults in the device, the fault point of the device will be activated. Similarly to the principle of the status point, K2 / K4 will be energized or disconnected, and the auxiliary contacts of K2 / K4 will be connected to the PLC input module, so that the fault status of the first electronic detection device / second electronic detection device will be fed back to the PLC system in the first time.

[0115] In this embodiment, the first electronic detection device / the second electronic detection device are both laser 2D sensors, which are installed under the trolley travel mechanism to ensure that there are no other objects blocking the 3-meter range in front of the probe of the first electronic detection device / the second electronic detection device except the wire rope, and the fan surface of the probe is 90 degrees vertical. When working, the device probe emits a fan-shaped detection area. Since the fan-shaped area is very wide, in this embodiment, the first electronic detection device / the second electronic detection device is installed in the direction away from the trolley travel mechanism, and the distance from the vertical plane of the first wire rope / the third wire rope parallel to the main beam is 0.5m;

[0116] Specifically, this embodiment is applied to the field of unmanned grab cranes. The distance between the first and second steel ropes on the opening and closing mechanism drum 400 is greater than the distance between the third and fourth steel ropes on the lifting mechanism drum 500. In this embodiment, the boundaries of the first detection area are manually set, and are set within 0.5m on both sides of the projection line within the detection surface of the first electronic detection device when the first steel rope is in a vertical state, and within a range of 0.5m from the first electronic detection device in the horizontal direction.

[0117] When the first wire rope and the third wire rope intersect with the first detection area, the first electronic detection device immediately detects the intrusion of the wire rope, and the status point of the first electronic detection device immediately operates. Since different grab bucket structures cannot be completely consistent, the inclination angle of the wire rope and its normal operation are also different. The first electronic detection device is not easy to adjust after installation. Therefore, the detection area of the first electronic detection device can be flexibly adjusted through customized software online configuration, which can greatly save the tedious work of mechanical installation and adjustment. The installation of the second electronic detection device and the setting method of the second detection area in this embodiment are the same as the setting method of the first electronic detection device installed in the first detection area.

[0118] In this embodiment, the detection sector of the first electronic detection device is a sector-shaped area within a vertical plane parallel to the main beam, centered on the first electronic detection device. A first detection zone is defined within this sector to monitor the status of the first and third wire ropes. In this embodiment, the detection sector of the second electronic detection device is a sector-shaped area within a vertical plane parallel to the main beam, centered on the second electronic detection device. A second detection zone is defined within this sector to monitor the status of the second and fourth wire ropes. When the first or third wire rope intersects the first detection zone, the first electronic detection device generates an alarm and accurately transmits a signal to the PLC. Similarly, when the second or fourth wire rope intersects the second detection zone, the second electronic detection device generates an alarm and accurately transmits a signal to the PLC. The PLC controls the trolley or carriage inverter, causing it to move slightly until no wire ropes are detected within the first or second detection zone, indicating that the wire ropes are no longer tilted.

[0119] In this embodiment, the working logic is explained by taking the first electronic detection device controlling the trolley travel mechanism as an example: the first electronic detection device detects that a wire rope has invaded the first detection area, and immediately outputs state point 1 (closed and set to 1. After state point 1 is closed, the relay K1 is energized and attracted; the auxiliary contact of K1 is connected to the PLC input module I0.0, so that I0.0 is energized and set to 1; I0.0 is the action instruction M1 for the trolley to move to the left; among which, the conditions for the trolley mechanism to move include: 1) Basic conditions: the trolley mechanism brakes The gantry motor power supply signal is set to 1, the gantry motor 1# overheat protector signal is set to 1, the gantry motor 2# overheat protector signal is set to 1, (the gantry motors in this embodiment include motors 1# and 2#) the gantry inverter fault output signal is set to 1, and the crane door limit signals 1# to 4# are all set to 1. After the above signals are connected in series to form an AND relationship, the gantry mechanism ready signal M0 is set to 1; 2) the left movement command M1 is connected in series with the ready signal M0, and then the start command 47F and the speed value 1000 are input to the gantry inverter. The gantry inverter and PLC communicate in real time via a network cable. The start command 47F is a hexadecimal number, corresponding to the binary value 10001111111. This activates the ramp function generator within the trolley inverter, causing the inverter to immediately output a starting current to establish starting torque. The inverter's communication speed is converted from 0 to 20,000, corresponding to an actual speed of 0 to 864 rpm (the rated motor speed, which is the maximum speed under normal operation). A speed value of 1000 represents 5% of the rated motor speed. After the trolley inverter starts, it continuously increases the motor current to establish starting torque until the current reaches the brake release threshold (this threshold is calculated after the inverter has established a complete motor model). The trolley inverter immediately outputs the brake release signal M3. When all the conditions for setting M1, M2, and M3 are met, the trolley travel mechanism immediately moves to the left. When the first detection area no longer intersects the first and third wire ropes, the status point 1 (M1) of the first electronic detection device is reset to 0. The trolley travel mechanism stops operating immediately, and M1 is reset to 0. M0 remains set to 1, and the trolley inverter startup conditions are not met. After M1 is reset to 0, the PLC immediately writes a stop command 47E and a speed value of 0 to the inverter. 47E corresponds to the binary number 10001111110, shutting down the trolley inverter's internal ramp function generator. The inverter immediately enters the deceleration phase and stops outputting the brake opening command M3 at the speed threshold of 30 rpm. At this point, the inverter completely stops outputting. The brake engages, and the motor stops. The trolley travel mechanism stops.

[0120] This embodiment has the following beneficial effects:

[0121] The first and second electronic detection devices of the present invention are simple to install. It is only necessary to ensure that there are no objects other than the wire rope blocking the first and second detection areas. The first and second electronic detection devices of the present invention can flexibly adjust the electronic barrier area according to the actual conditions of different overhead crane drums. This solves the technical problem of time-consuming and labor-intensive mechanical installation and adjustment methods, as well as poor accuracy. The first and second electronic detection devices of the present invention have no actual contact with the wire rope, thus avoiding mechanical damage. The first and second electronic detection devices of the present invention have a fast response speed and will respond immediately if the wire rope tilts and invades the detection area. The first and second electronic detection devices of the present invention have a self-detection fault output function. If the device itself has an abnormality, it will immediately alarm, so that abnormal conditions can be discovered in a timely manner, ensuring the safety of the overhead crane operation. It has the characteristics of simple installation, convenient debugging, comprehensive detection, rapid response, and fault self-detection.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent correction method for an intelligent correction device for a steel wire rope of an unmanned grab crane, characterized in that: The steps include: S1: A rectangular coordinate system is established with the location of the first electronic detection device (601) as the coordinate origin O, the detection direction of the first electronic detection device (601) parallel to the main beam (102) as the positive direction of the x-axis, the direction facing the second electronic detection device (602) as the positive direction of the y-axis, and the vertical downward direction as the positive direction of the z-axis; S2: Setting the maximum detection distance D of the first electronic detection device (601) / the second electronic detection device (602) max , the closest detection distance D of the first electronic detection device (601) / the second electronic detection device (602) min , the distance Borderup between the highest detection point of the first electronic detection device (601) / the second electronic detection device (602) and the ground, and the distance Border between the lowest detection point of the first electronic detection device (601) / the second electronic detection device (602) and the ground down , determining a first detection area of the first electronic detection device and a second detection area of the second electronic detection device; S3: judging the running direction of the trolley traveling mechanism (100) according to whether there is an intersection between the first steel wire rope (401) / the third steel wire rope (501) and the first detection area and an intersection between the second steel wire rope (402) / the fourth steel wire rope (502) and the second detection area; In said S3, the method for determining the running direction of the vehicle traveling mechanism (100) is as follows: If there is a coordinate A(x A ,y A ,z A ), the trolley travel mechanism (100) moves in the negative direction of the y-axis; If there is an intersection coordinate B (x B ,y B ,z B ), the trolley travel mechanism (100) moves in the positive direction of the y-axis; Otherwise, the carriage travel mechanism (100) does not move; Wherein, the first detection area is set to: Where: x A is the coordinate of the intersection point A on the x-axis; y A is the coordinate of the intersection point A on the y-axis; z A is the coordinate of the intersection point A on the z-axis; x4 is the maximum coordinate of the first detection area / the second detection area on the x-axis, x4 = D max ; x3 is the minimum coordinate of the first detection area / the second detection area on the x-axis, x3 = D min y1 is the coordinate of the first detection area / second detection area on the y-axis; z1 is the minimum coordinate of the first detection area / second detection area on the z-axis, z1 = D-Borderup; z2 is the maximum coordinate of the first detection area / second detection area on the z-axis, z2 = D-Borderup down ; Wherein, D is the distance between the first electronic detection device / the second electronic detection device and the ground; x a is the coordinate of any point in the first detection area on the x-axis; a is the coordinate of any point in the first detection area on the y-axis; a is the coordinate of any point in the first detection area on the z-axis; The second detection area is set to: Where: x B is the coordinate of the intersection point B on the x-axis; y B is the coordinate of the intersection point B on the y-axis; z B is the coordinate of the intersection point B on the z-axis; x4 is the maximum coordinate of the first detection area / the second detection area on the x-axis, x4 = D max ; x3 is the minimum coordinate of the first detection area / the second detection area on the x-axis, x3 = D min ; y1 is the coordinate of the first detection area / second detection area on the y-axis; z1 is the minimum coordinate of the first detection area / second detection area on the z-axis, z1 = D-Borderup; z2 is the maximum coordinate of the first detection area / second detection area on the z-axis, z2 = D-Border down ; Wherein, D is the distance between the first electronic detection device / the second electronic detection device and the ground; x b is the coordinate of any point in the second detection area on the x-axis; b is the coordinate of any point in the second detection area on the y-axis; b is the coordinate of any point in the second detection area on the z-axis; j is the coordinate of the second electronic detection device on the y-axis; S4: Coordinates of the intersection of the first steel wire rope (401) / the third steel wire rope (501) and the first detection area A (x A ,y A ,z A ) and the intersection coordinates B (x B ,y B ,z B ), determine the direction of the car's movement; S5: the trolley traveling mechanism operates according to the operating logic of the trolley traveling mechanism to correct the deviation of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope in the direction of the trolley track; S6: The trolley traveling mechanism operates according to the operating logic of the trolley traveling mechanism to correct the offset of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope in the direction of the trolley track.

2. The intelligent correction method for the steel wire rope of an unmanned grab crane according to claim 1 is characterized in that: In said S4, the method for determining the traveling direction of the trolley traveling mechanism (200) is: If there exists x2≤x A ≤x4 or x2≤x B When ≤x4, the trolley travel mechanism (200) moves in the positive direction of the x-axis; If there exists x3≤x A ≤x1 or When , the trolley travel mechanism (200) moves in the negative direction of the x-axis; Otherwise, the trolley travel mechanism (200) does not move; Wherein: x1 is the coordinate of the third steel wire rope (501) / the fourth steel wire rope (502) in the x-axis direction, and x2 is the coordinate of the first steel wire rope (401) / the second steel wire rope (402) in the x-axis direction.

3. The intelligent correction method for the steel wire rope of an unmanned grab crane according to claim 2 is characterized in that: In said S5, the operation logic of the trolley traveling mechanism (100) is: When there is a coordinate A(x A ,y A ,z A ), the first intermediate relay K1 is energized, and the first intermediate relay signal is transmitted to the PLC system, and the PLC system controls the trolley frequency converter to rotate in the clockwise direction, and drives the trolley travel mechanism (100) to move in the negative direction of the y-axis through the trolley motor; When there is an intersection coordinate B (x B ,y B ,z B ), the third intermediate relay K3 is energized, and the third intermediate relay signal is transmitted to the PLC system, and the PLC system controls the trolley inverter to rotate in the counterclockwise direction, and drives the trolley travel mechanism (100) to move in the positive direction of the y-axis through the trolley motor; Otherwise the carriage traveling mechanism (100) does not move.

4. The intelligent correction method for the steel wire rope of an unmanned grab crane according to claim 3 is characterized in that: In said S6, the operation logic of the trolley traveling mechanism (200) is: If there exists x2≤x A When ≤x4, the first intermediate relay K1 is energized, and the signal of the first intermediate relay is transmitted to the PLC system, and the PLC system controls the trolley frequency converter to rotate in the counterclockwise direction, and drives the trolley travel mechanism (200) to move in the positive direction of the x-axis through the trolley motor; Or x2≤x B When ≤x4, the third intermediate relay K3 is energized, and the third intermediate relay signal is transmitted to the PLC system, and the PLC system controls the trolley inverter to rotate in the counterclockwise direction, and drives the trolley travel mechanism (200) to move in the positive direction of the x-axis through the trolley motor; If there exists x3≤x A When ≤x1, the first intermediate relay K1 is energized, and the signal of the first intermediate relay is transmitted to the PLC system, and the PLC system controls the trolley frequency converter to rotate in the clockwise direction, and drives the trolley travel mechanism (200) to move in the negative direction of the x-axis through the trolley motor; If there exists x3≤x B When ≤x1, the third intermediate relay K3 is energized, and the third intermediate relay signal is transmitted to the PLC system, and the PLC system controls the trolley frequency converter to rotate in the clockwise direction, and drives the trolley travel mechanism (200) to move in the negative direction of the x-axis through the trolley motor; Otherwise the trolley traveling mechanism (200) does not move.

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