Remote automatic positioning control system for nuclear power ring crane

Abstract

The application discloses a kind of nuclear power ring crane remote automatic positioning control systems, comprising: trolley positioning component, trolley positioning component, hoisting positioning component, PLC control unit.Guide rail positioning component includes: ring encoder, first code reader, second code reader, trolley motor and trolley driver.Trolley positioning component includes: laser range finder, laser reflector, trolley motor and trolley driver.Hoisting positioning component includes: absolute value encoder and hoisting driver.Trolley driver, trolley driver and hoisting driver are all communicated with PLC control unit connection.Thus, through the coding between ring encoder and code reader, and the positioning between laser range finder and reflector, so that the operator can realize automatic and accurate positioning when controlling ring crane, which is beneficial to the rapid lifting of ring crane for equipment, and can avoid the harm of nuclear radiation to the operator on site.

Description

Technical Field

[0001] This invention relates to the field of ring crane control technology, and in particular to a remote automatic positioning control system for a nuclear power ring crane. Background Technology

[0002] Circular cranes are installed inside the reactor building of nuclear power plants. During the construction phase, they are used to lift and move various heavy equipment within the reactor building. During operation, they are used for various lifting services required for reactor shutdown and refueling, as well as equipment maintenance within the reactor building.

[0003] To effectively control the lifting of various equipment by a ring crane, existing technologies typically involve manual operation from the crane operator's cab. However, this manual control method presents challenges when handling the movement of multiple fixed lifting points commonly used in reactor cores. Operators must repeatedly adjust these points to achieve the desired lifting conditions. Furthermore, in certain reactor cores, due to higher radiation doses, operators are unable to enter the reactor to adjust the ring crane.

[0004] In other words, the existing manual control methods for ring cranes are cumbersome, have low positioning accuracy, and cannot achieve automatic positioning of the crane equipment. Summary of the Invention

[0005] To address some or all of the technical problems existing in the prior art, the present invention provides a remote automatic positioning control system for a nuclear power plant ring crane.

[0006] The technical solution of the present invention is as follows:

[0007] A remote automatic positioning and control system for a nuclear power plant circular crane is provided. The system is installed on the nuclear power plant circular crane, which includes: a circular track, a trolley traveling mechanism, a hoisting mechanism, and a circular track. The trolley traveling mechanism is movably mounted on the circular track along its radial direction. The trolley traveling mechanism is movably mounted on the trolley traveling mechanism. The hoisting mechanism is fixedly mounted on the trolley traveling mechanism. The system includes:

[0008] A trolley positioning assembly includes: a ring-shaped encoder, a first barcode reader, a second barcode reader, a trolley motor, and a trolley driver. The ring-shaped encoder is arranged around the ring track in the circumferential direction. The first barcode reader and the second barcode reader are respectively arranged at both ends of the trolley running mechanism in the radial direction of the ring track. The positions of the first barcode reader and the second barcode reader correspond to those of the ring-shaped encoder. The trolley motor can drive the trolley running mechanism to move on the ring track. The first barcode reader, the second barcode reader, and the trolley motor are all communicatively connected to the trolley driver, and the trolley driver can drive the trolley motor to run.

[0009] The vehicle positioning component includes a laser rangefinder, a laser reflector, a vehicle motor, and a vehicle driver. The laser rangefinder is fixedly mounted on the vehicle running mechanism, and the laser reflector is fixedly mounted at the end of the main vehicle running mechanism. The laser rangefinder and the laser reflector are positioned correspondingly. The vehicle motor can drive the vehicle running mechanism to move on the main vehicle running mechanism. The laser rangefinder and the vehicle motor are both communicatively connected to the vehicle driver, and the vehicle driver can drive the vehicle motor to run.

[0010] A lifting and positioning assembly includes an absolute encoder and a lifting driver. The lifting mechanism includes a drum and a lifting motor. The absolute encoder is mounted on the drum and can read the rotational position of the drum. The lifting motor can drive the drum to rotate. The absolute encoder and the lifting motor are both communicatively connected to the lifting driver, and the lifting driver can drive the lifting motor to run.

[0011] The PLC control unit is connected in communication with the trolley driver, the gantry driver, and the hoisting driver.

[0012] Optionally, the trolley running mechanism includes: a first trolley beam and a second trolley beam, the first trolley beam and the second trolley beam being parallel to each other and both extending radially along the annular track, the first code reader being disposed at one end of the first trolley beam near the annular code ruler, and the second code reader being disposed at one end of the second trolley beam near the annular code ruler.

[0013] Optionally, the laser rangefinder includes: a first rangefinder and a second rangefinder, the first rangefinder corresponding to the position of the first main beam, and the second rangefinder corresponding to the position of the second main beam. The laser reflector includes: a first reflector and a second reflector, the first reflector being disposed on the first main beam, and the second reflector being disposed on the second main beam. The first rangefinder corresponds to the first reflector, and the second rangefinder corresponds to the second reflector.

[0014] Optionally, the annular encoder is constructed as an annular steel strip, and the annular steel strip is provided with grids along the circumferential direction of the annular track.

[0015] The main advantages of the technical solution of this invention are as follows:

[0016] In the system of this invention, through the encoding between the ring-shaped encoder and the code reader, and the positioning between the laser rangefinder and the reflector, the operator can control the ring crane without on-site operation. The ring crane can achieve automatic and accurate positioning, which is conducive to the rapid lifting of equipment by the ring crane, and at the same time can avoid the operator being exposed to nuclear radiation on site. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and constitute a part of this invention, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0018] Figure 1 This is a schematic diagram of the remote automatic positioning control system for a nuclear power plant ring crane according to one embodiment of the present invention;

[0019] Figure 2 A flowchart illustrating the automatic positioning control of the trolley positioning component in a remote automatic positioning control system for a nuclear power plant ring crane according to an embodiment of the present invention.

[0020] Explanation of reference numerals in the attached figures:

[0021] 11: Circular coding ruler; 12: First code reader; 13: Second code reader

[0022] 21: First rangefinder; 22: Second rangefinder; 23: First reflector.

[0023] 24: Second reflector; 31: Absolute encoder; 41: First main beam.

[0024] 42: Second largest beam Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] The technical solutions provided by the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0027] According to one embodiment of the present invention, a remote automatic positioning control system for a nuclear power ring crane is provided. The system is installed on the nuclear power ring crane and can control the operation of the nuclear power ring crane based on the positioning coordinates and positioning start commands related to the hoisting operation input by the operator, so that the hoisting equipment of the nuclear power ring crane can automatically and accurately run to the relevant target position.

[0028] It is understood that, in this embodiment, the nuclear power ring crane includes: a ring track, a trolley traveling mechanism, a trolley traveling mechanism, and a hoisting mechanism.

[0029] The circular track is circular in shape. The trolley traveling mechanism is movably mounted on the circular track along its radial direction, with both ends of the trolley traveling mechanism movably mounted on the circular track. The trolley traveling mechanism is movably mounted on the trolley traveling mechanism and can move along the length of the trolley traveling mechanism. For example, the trolley traveling mechanism has a track on it, and the trolley traveling mechanism can move along the track. The lifting mechanism is fixedly mounted on the trolley traveling mechanism.

[0030] In this embodiment, the remote automatic positioning control system for the nuclear power plant ring crane includes: a trolley positioning component, a trolley positioning component, a hoisting positioning component, and a PLC control unit.

[0031] Specifically, the trolley positioning component can accurately control the movement of the trolley's running mechanism, such as... Figure 1As shown, the trolley positioning assembly includes: a ring-shaped encoder 11, a first code reader 12, a second code reader 13, a trolley motor, and a trolley driver. The ring-shaped encoder 11 is arranged around the ring track in the circumferential direction. The first code reader 12 and the second code reader 13 are respectively arranged at both ends of the trolley running mechanism in the radial direction of the ring track. The positions of the first code reader 12 and the second code reader 13 correspond to those of the ring-shaped encoder 11. The trolley motor can drive the trolley running mechanism to move on the ring track. The first code reader 12, the second code reader 13, and the trolley motor are all communicatively connected to the trolley driver, which can drive the trolley motor to run.

[0032] The trolley positioning component can accurately control the movement of the trolley running mechanism. The trolley positioning component includes: a laser rangefinder, a laser reflector, a trolley motor, and a trolley driver. The laser rangefinder is fixedly installed on the trolley running mechanism, and the laser reflector is fixedly installed at the end of the main trolley running mechanism. The positions of the laser rangefinder and the laser reflector correspond to each other. The trolley motor can drive the trolley running mechanism to move on the main trolley running mechanism. The laser rangefinder and the trolley motor are both communicatively connected to the trolley driver, and the trolley driver can drive the trolley motor to run.

[0033] The lifting and positioning component can accurately control the movement of the lifting mechanism. The lifting and positioning component includes an absolute encoder 31 and a lifting driver. The lifting mechanism includes a drum and a lifting motor. The absolute encoder is set on the drum and can read the rotation position of the drum. The lifting motor can drive the drum to rotate. The absolute encoder and the lifting motor are both connected to the lifting driver, and the lifting driver can drive the lifting motor to run.

[0034] The trolley driver, crane driver, and hoist driver are all communicatively connected to the PLC control unit. The PLC control unit, as a logic calculation unit, is responsible for acquiring digital I / O points and analog signals. It can receive control commands input by the operator and, based on these commands, output control commands to each driver to drive the corresponding motor. For example, the PLC control unit can communicate with each driver via a DP bus.

[0035] In actual use, the operator can input the positioning coordinates and positioning start command related to the lifting operation on the remote control console. When the PLC control unit receives the relevant positioning coordinates and positioning start command, it performs PID calculation of the speed based on the target position and the current position, and sends the calculated speed value to each driver to drive the motor to run.

[0036] For example, for the trolley traveling mechanism and the trolley positioning component, the first code reader 12 and the second code reader 13 can read the current position of the trolley traveling mechanism through the ring code ruler 11, and can send the corresponding position information to the PLC control unit via the trolley driver. When the PLC control unit receives the positioning coordinates and positioning start command input by the operator, it performs PID calculation of the speed according to the target position corresponding to the positioning coordinates and the current position, and sends the relevant speed value to the trolley motor so that the trolley motor drives the trolley traveling mechanism to move to the target position corresponding to the positioning coordinates.

[0037] Correspondingly, for the trolley running mechanism and the trolley positioning component, the laser rangefinder can read the current position of the trolley running mechanism by the distance between it and the laser reflector, and can send the corresponding position information to the PLC control unit via the trolley driver. When the PLC control unit receives the positioning coordinates and positioning start command input by the operator, it performs PID calculation of the speed based on the target position corresponding to the positioning coordinates and the current position, and sends the relevant speed value to the trolley motor so that the trolley motor drives the trolley running mechanism to move to the target position corresponding to the positioning coordinates.

[0038] For the hoisting mechanism and hoisting positioning components, the absolute encoder 31 can directly read the current position of the drum and send the corresponding position information to the PLC control unit via the hoisting driver. When the PLC control unit receives the positioning coordinates and positioning start command input by the operator, it performs PID calculation of the speed based on the target position corresponding to the positioning coordinates and the current position, and sends the relevant speed value to the hoisting motor so that the hoisting motor drives the drum to rotate, allowing the cable on the drum to move to the target position corresponding to the positioning coordinates.

[0039] Furthermore, such as Figure 1 As shown, the trolley running mechanism includes: a first trolley beam 41 and a second trolley beam 42. The first trolley beam 41 and the second trolley beam 42 are parallel to each other and both extend along the radial direction of the circular track. A first code reader 12 is located at one end of the first trolley beam 41 near the circular code ruler 11, and a second code reader 13 is located at one end of the second trolley beam 42 near the circular code ruler 11.

[0040] In this embodiment, since the first large beam 41 and the second large beam 42 are driven by different motors, the mechanical driving forces at both ends of the large beam running mechanism are different. At the same time, the position of the small beam running mechanism will change, which will eventually lead to a deviation in the running position at both ends of the large beam running mechanism. In order to ensure that the large beam running mechanism can accurately run to the required position, the active motor set at one end of the large beam running mechanism can be made to run stably according to the speed calculated by PID, and the driven motor set at the other end of the large beam running mechanism can be finely adjusted in speed according to the difference between the values ​​of the first code reader and the second code reader.

[0041] For example, such as Figure 1 and Figure 2 As shown, the two ends of the first main beam 41 are driven by the first main beam motor and the second main beam motor respectively. The first main beam motor is controlled by the first main beam driver, and the second main beam motor is controlled by the second main beam driver. The first main beam motor is close to the first code reader 12. The two ends of the second main beam 42 are driven by the third main beam motor and the fourth main beam motor respectively. The third main beam motor is controlled by the third main beam driver, and the fourth main beam motor is controlled by the fourth main beam driver. The third main beam motor is close to the second code reader 13.

[0042] When the PLC control unit receives the positioning position and start automatic command given by the operating panel, the first and fourth trolley motors at the first code reader 12 end of the trolley traveling mechanism act as active motors and run according to the speed value speed1 calculated by the PID algorithm under the control of the first trolley driver and the fourth trolley driver, respectively.

[0043] The second and third trolley motors at the second reader 13 act as driven motors, operating under the control of the second and third trolley drivers respectively, at a speed of speed1+k(M2-M1), where k is the error proportional coefficient, M2 is the encoding value of the second reader, and M1 is the encoding value of the first reader. This ensures that the geometric center of the trolley traveling mechanism coincides with the center of the circular track, guaranteeing the automatic positioning accuracy of the trolley traveling mechanism.

[0044] At this point, the speed loop is a closed loop formed by the driver, motor, and encoder, while the position loop is a closed loop formed by the code reader and the PLC control unit, thereby performing precise positioning. The position loop for each mechanism to perform the positioning function is implemented through the PLC control unit, and the speed loop is implemented through the driver, ultimately realizing the automatic positioning function of the ring crane.

[0045] At the same time, such as Figure 1As shown, the laser rangefinder includes: a first rangefinder 21 and a second rangefinder 22. The first rangefinder 21 is positioned corresponding to the first main beam 41, and the second rangefinder 22 is positioned corresponding to the second main beam 42. The laser reflector includes: a first reflector 23 and a second reflector 24. The first reflector 23 is disposed on the first main beam 41, and the second reflector 24 is disposed on the second main beam 42. The first rangefinder 21 and the first reflector 23 correspond to each other, and the second rangefinder 22 and the second reflector 24 correspond to each other.

[0046] In this embodiment, the trolley running mechanism needs to run simultaneously on the first large beam 41 and the second large beam 42. In order to avoid deviations in the running position of the trolley running mechanism on both sides of the first large beam 41 and the second large beam 42, and to ensure that the trolley running mechanism can accurately run to the required position, the active motor set on one side of the trolley running mechanism can operate according to the difference between the position measured by the first rangefinder 21 and the target position, and the driven motor set on the other side of the trolley running mechanism can finely adjust its speed according to the difference between the values ​​of the first rangefinder 21 and the second rangefinder 22.

[0047] For example, such as Figure 1 As shown, the first reflector 23 is mounted on the first main beam 41, and the second reflector 24 is mounted on the second main beam 42. The trolley running mechanism is driven by two trolley motors to move on the first main beam 41 and the second main beam 42 respectively. The trolley motor that can move on the first main beam 41 acts as the active motor and operates at a speed value speed11 calculated by a PID algorithm under the control of the trolley driver. The trolley motor that can move on the second main beam 42 acts as the driven motor and operates at a speed value speed11+k1(M21-M11) under the control of the trolley driver, where k1 is the error proportional coefficient, M21 is the distance measured by the second rangefinder, and M11 is the distance measured by the first rangefinder. This ensures the automatic positioning accuracy of the trolley running mechanism on the main beam running mechanism.

[0048] Therefore, in this embodiment, after receiving the positioning position and automatic positioning command sent by the operator console, the PLC control unit can control the trolley traveling mechanism and the auxiliary trolley traveling mechanism to simultaneously perform their respective positioning. After the positioning of the trolley and auxiliary trolley is completed, the lifting mechanism performs automatic positioning for raising or lowering the position. Throughout the positioning process, the current running position of the trolley and auxiliary trolley can be displayed in real time on the control interface of the operator console. When the positioning is completed, the operator console will display a positioning completion message to the operator.

[0049] As one implementation method, the circular encoder ruler is constructed as a circular steel strip with grids arranged along the circumferential direction of the circular track. It can be understood that the positional information of the circular encoder ruler can be composed of the grids fixed on the circular steel strip; the grid positional information does not experience time or temperature drift and has good stability.

[0050] For example, the accuracy provided by the grid position can be 0.4 mm.

[0051] For example, the accuracy of a laser rangefinder when measuring position can be 0.1 mm.

[0052] Therefore, the system in this embodiment has the following advantages:

[0053] In the system of this embodiment, through the encoding between the ring-shaped encoder and the code reader, and the positioning between the laser rangefinder and the reflector, the operator can control the ring crane without on-site operation. The ring crane can achieve automatic and accurate positioning, which is conducive to the rapid lifting of equipment by the ring crane, and at the same time can avoid the operator being exposed to nuclear radiation on site.

[0054] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Additionally, the terms "front," "back," "left," "right," "upper," and "lower" in this document refer to the placement shown in the accompanying drawings.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remote automatic positioning control system for a nuclear power plant ring crane, characterized in that, The system is used to install on a nuclear power plant circular crane. The nuclear power plant circular crane includes: a circular track, a trolley traveling mechanism, a gantry traveling mechanism, and a hoisting mechanism. The trolley traveling mechanism is movably mounted on the circular track along the radial direction of the circular track. The gantry traveling mechanism is movably mounted on the trolley traveling mechanism. The hoisting mechanism is fixedly mounted on the gantry traveling mechanism. The system includes: A trolley positioning assembly includes: a ring-shaped encoder, a first barcode reader, a second barcode reader, a trolley motor, and a trolley driver. The ring-shaped encoder is arranged around the ring track in the circumferential direction. The first barcode reader and the second barcode reader are respectively arranged at both ends of the trolley running mechanism in the radial direction of the ring track. The positions of the first barcode reader and the second barcode reader correspond to those of the ring-shaped encoder. The trolley motor can drive the trolley running mechanism to move on the ring track. The first barcode reader, the second barcode reader, and the trolley motor are all communicatively connected to the trolley driver, and the trolley driver can drive the trolley motor to run. The vehicle positioning component includes a laser rangefinder, a laser reflector, a vehicle motor, and a vehicle driver. The laser rangefinder is fixedly mounted on the vehicle running mechanism, and the laser reflector is fixedly mounted at the end of the main vehicle running mechanism. The laser rangefinder and the laser reflector are positioned correspondingly. The vehicle motor can drive the vehicle running mechanism to move on the main vehicle running mechanism. The laser rangefinder and the vehicle motor are both communicatively connected to the vehicle driver, and the vehicle driver can drive the vehicle motor to run. A lifting and positioning assembly includes an absolute encoder and a lifting driver. The lifting mechanism includes a drum and a lifting motor. The absolute encoder is mounted on the drum and can read the rotational position of the drum. The lifting motor can drive the drum to rotate. The absolute encoder and the lifting motor are both communicatively connected to the lifting driver, and the lifting driver can drive the lifting motor to run. The PLC control unit, the trolley driver, the gantry driver and the hoisting driver are all communicatively connected to the PLC control unit; The trolley running mechanism includes: a first trolley beam and a second trolley beam, the first trolley beam and the second trolley beam are parallel to each other and both extend along the radial direction of the circular track, the first barcode reader is disposed at one end of the first trolley beam near the circular encoder, and the second barcode reader is disposed at one end of the second trolley beam near the circular encoder. The two ends of the first large beam are driven by a first large beam motor and a second large beam motor, respectively. The first large beam motor is controlled by a first large beam driver, and the second large beam motor is controlled by a second large beam driver. The first large beam motor is close to the first barcode reader. The two ends of the second large beam are driven by a third large beam motor and a fourth large beam motor, respectively. The third large beam motor is controlled by a third large beam driver, and the fourth large beam motor is controlled by a fourth large beam driver. The third large beam motor is close to the second barcode reader. When the PLC control unit receives the positioning position and start automatic command given by the operating console, the first and fourth trolley motors on the first reader end of the trolley traveling mechanism, as active motors, run according to the speed value speed1 calculated by the PID algorithm under the control of the first and fourth trolley drivers respectively; the second and third trolley motors on the second reader end, as driven motors, run according to the speed value speed1+k(M2-M1) under the control of the second and third trolley drivers respectively, where k is the error proportional coefficient, M2 is the encoding value of the second reader, and M1 is the encoding value of the first reader. This ensures that the geometric center of the trolley traveling mechanism coincides with the center of the circular track, ensuring the automatic positioning accuracy of the trolley traveling mechanism.

2. The remote automatic positioning control system for a nuclear power plant ring crane according to claim 1, characterized in that, The laser rangefinder includes a first rangefinder and a second rangefinder. The first rangefinder corresponds to the position of the first main beam, and the second rangefinder corresponds to the position of the second main beam. The laser reflector includes a first reflector and a second reflector. The first reflector is disposed on the first main beam, and the second reflector is disposed on the second main beam. The first rangefinder corresponds to the first reflector, and the second rangefinder corresponds to the second reflector.

3. The remote automatic positioning control system for a nuclear power plant ring crane according to claim 1, characterized in that, The annular encoder is constructed as an annular steel strip, and the annular steel strip is provided with grids along the circumferential direction of the annular track.

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