Gantry crane boom sling cable drum cable control winding and unwinding system and method

Abstract

The invention discloses a portal crane boom sling cable drum cable control take-up and pay-off system, which comprises a cable drum, a cable control system, a cable control system and a cable control system, the cable drum is mounted at one end, provided with a sling, of a boom, a cable is arranged on the sling, one end of the cable is mounted on the sling cable drum, and take-up and pay-off of the cable are realized through rotation of the cable drum; the lifting absolute value encoder is used for measuring the lifting height of the lifting appliance; the variable amplitude measurer is used for measuring the rotation angle of the cantilever crane; and the reel controller is used for controlling the rotation direction of the cable reel and obtaining the adjustment data of the cable reel according to the data of the lifting absolute value encoder and the variable amplitude measurer. The winding drum controller comprises a winding and unwinding prediction module and a winding and unwinding control module, and the winding and unwinding prediction module is used for obtaining prediction data according to the current motion state and controlling the winding and unwinding control module to control the cable winding drum. The operation safety and efficiency of the crane are effectively improved, and the maintenance cost is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of cable retraction and extension control, and in particular relates to a cable retraction and extension control system and method for a cable drum of a gantry crane boom hoist. Background Art

[0002] With the development of the logistics industry, there are more and more types of cargo in ports. A single terminal may have different types of cargo such as containers, general cargo, bulk cargo, etc. As the loading and unloading equipment at the forefront of the terminal, the gantry crane needs to take into account the loading and unloading functions of multiple types of cargo. Different types of cargo require different lifting equipment for loading and unloading.

[0003] When a gantry crane is used to load and unload containers, a professional container spreader is used. A special spreader cable is installed on the gantry crane to power and control the container spreader. The container spreader changes with the lifting height during the operation of the gantry crane, so it involves the retraction and release of the spreader cable. At present, there are two ways to retract and release the spreader cable. The first is to fix one end of the spreader cable to the head of the boom and the other end to the cable storage frame. A cable storage frame is set on the rotating hook. When the lifting changes, the spreader cable falls into the cable storage frame to control the length of the spreader cable. However, since the spreader cable is in a free hanging state, it is easy to get entangled with the wire rope on the side in the air, resulting in safety accidents. The second is to set a spreader cable drum at the head of the boom and fix the other end on the rotating hook. When the lifting changes, the spreader cable drum controls the length of the spreader cable by retracting and releasing the cable, so that the cable is always in a straightened state, which is easy to break and cause accidents.

[0004] Due to the complex working conditions of gantry cranes, the length of the spreader cable will change when the load is lifted; when the luffing mechanism is activated, it will also affect the change of the spreader cable. Therefore, we provide a spreader cable retraction and release control system to avoid safety accidents caused by spreader cable problems during operation. Summary of the invention

[0005] The purpose of the present invention is to provide a gantry crane boom hoist cable reel cable control and release system to avoid safety accidents caused by problems with the hoist cable during operation.

[0006] The invention discloses a gantry crane boom hoist cable drum cable control and retracting system, comprising:

[0007] A cable drum is installed at one end of a sling provided on the boom, the sling is provided with a cable, one end of the cable is installed on the cable drum of the sling, and the cable is retracted and released by rotating the cable drum;

[0008] Lifting absolute encoder, used to measure the lifting height of the hoisting device;

[0009] Amplitude measurement device, used to measure the boom rotation angle;

[0010] The cable drum controller is used to control the rotation direction of the cable drum and obtain the adjustment data of the cable drum according to the data of the lifting absolute value encoder and the amplitude measurement device.

[0011] As a further improvement of the above technical solution:

[0012] The reel controller includes a retractable prediction module and a retractable control module, wherein the retractable prediction module is used to obtain prediction data according to the current motion state and control the retractable control module to control the cable reel. The retractable prediction module includes a current position parameter acquisition unit, a predicted position calculation unit and a parameter correction unit.

[0013] The prediction here is mainly the working state prediction. First, the current task is determined. The current task includes picking up, moving and releasing. The picking process includes amplitude change and sling lowering. Moving includes rotation. Only amplitude change occurs in this process. The amplitude change and sling lifting are quoted for releasing. According to the task, the work of the cable reel is planned. If the amplitude change is downward and the sling is lowered, the sling will release the wire and the cable should also be released. The cable should be released in advance before the sling releases the wire to prevent the sling from breaking the cable. If the sling is lifted, the sling will reel in the wire and the cable should also be reeled in. The cable should be released after the reel is reeled in to prevent the cable from being broken. In the process, cable transition redundancy may occur, so a parameter correction unit is set to prevent its transition redundancy by adjusting the cable reel speed. The present invention can ensure that the cable is not excessively redundant and that the cable is not broken, thereby improving the safety of use.

[0014] The invention discloses a method for controlling the retracting and releasing of a cable drum of a gantry crane boom hoist. Based on the cable retracting and releasing system of the cable drum of the gantry crane boom hoist, the method comprises the following steps:

[0015] S1. A current position parameter acquisition unit acquires current position parameters, where the position parameters include a hoisting height of a spreader and an angle of a boom;

[0016] S2. Predict the working state at the next time. The working state includes: the working state of the spreader and the working state of the boom. The working state of the spreader includes lifting, descending and constant height. The working state of the boom includes increasing and decreasing rotation angle and constant position.

[0017] S3, according to the next working state at a time, outputting the adjustment value to the reel controller through the predicted position calculation unit, so that the reel controller moves;

[0018] S4. After the next time working state is completed, the latest position parameter is obtained, and the correction adjustment value is output through the parameter correction unit to control the movement of the reel controller.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] Improve safety: By real-time monitoring of the hoisting height and boom rotation angle of the spreader, combined with the retraction and extension prediction module, it can effectively prevent the cable from being pulled off during crane operation and reduce the risk of accidents.

[0021] Improve work efficiency: The system can automatically adjust the retraction and extension of the cable drum according to the movement status of the spreader and boom, ensuring that the cable is always in a suitable state and reducing downtime caused by cable problems.

[0022] Extend the service life of the cable: By precisely controlling the retraction and release of the cable, cable damage caused by excessive stretching or entanglement can be avoided, thereby extending the service life of the cable.

[0023] Optimize operating experience: The automated cable retraction and release control system reduces the operator's labor intensity and makes the operation more convenient and comfortable.

[0024] Energy saving and consumption reduction: The system can adjust the operation of the cable reel according to actual work needs to avoid unnecessary energy consumption.

[0025] Improved space utilization: By precisely controlling the cable length, redundant stacking of cables during operation is avoided, thus improving the space utilization of the operation site.

[0026] Easy maintenance: The system has a simple structure, which is convenient for daily inspection and maintenance, reducing maintenance costs.

[0027] Improve operation accuracy: By adjusting the cable length in real time, the spreader can be ensured to operate stably during operation and improve operation accuracy.

[0028] In summary, the gantry crane boom hoist cable reel cable control and retraction system provided in this embodiment effectively improves the operation safety and efficiency of the crane, reduces maintenance costs, and has high practical value and market prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 1. Lifting absolute value encoder; 2. Cable drum; 3. Cable; 5. Lifting equipment; 7. Luffing amplitude measuring device. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] like Figure 1 As shown, the cable reel cable control and retracting system of the gantry crane boom hoist of this embodiment includes:

[0032] The cable drum 2 is installed at one end of the boom suspension device 5, the suspension device 5 is provided with a cable 3, one end of the cable 3 is installed on the cable drum 2, and the cable is retracted and released by rotating the cable drum;

[0033] Lifting absolute value encoder 1, used to measure the lifting height of the hoisting device;

[0034] A variable amplitude measuring device 7 is used to measure the rotation angle of the boom;

[0035] The drum controller is used to control the rotation direction of the cable drum 2 and obtain the adjustment data of the cable drum 2 according to the data of the lifting absolute value encoder 1 and the amplitude measurement device 7.

[0036] The reel controller includes a retractable prediction module and a retractable control module. The retractable prediction module is used to obtain prediction data according to the current motion state and control the retractable control module to control the cable reel.

[0037] The retraction and release prediction module includes a current position parameter acquisition unit, a predicted position calculation unit and a parameter correction unit.

[0038] Relationship between height change and amplitude:

[0039] like Figure 2 As shown, the definition is: boom length: L meters; the pitch angle between the boom and the horizontal plane is α; the track surface is taken as the reference plane,

[0040] The height below the track surface is H1 meter; the height from the track surface to the center of the boom root shaft is H2 meters; the distance from the center of the boom root shaft to the boom head is H3 meters; the total length of the vertical cable: Htotal = H1+H2+H3.

[0041] First, consider the situation where the lifting mechanism does not change but the luffing mechanism changes:

[0042] Due to the particularity of the crane, when the luffing mechanism changes, its hanging point position tends to be horizontally balanced, that is, it moves on a horizontal straight line. Therefore, the total height change part of the vertical cable is calibrated at the H3 position to place the sling on the track surface, keeping the wire rope and the vertical cable in a vertical state. The initial position height is:

[0043] H11=0;

[0044] H21=H2;

[0045] H31 = Lsanα;

[0046] When the boom is increased downward, the angle between the boom and the horizontal plane is β, and the height is:

[0047] H32 = Lsanβ;

[0048] The cable drum at the boom head needs to be retracted H3:

[0049] H3=H31-H32=Lsanα-Lsanβ=L*(sanα-sanβ);

[0050] When the boom is reduced upward, the angle between the boom and the horizontal plane is β, and the height is:

[0051] H32 = Lsanβ;

[0052] The cable drum at the boom head needs to release the cable H3:

[0053] H3=H32-H31-=Lsanβ-Lsanα=L*(sanβ-sanα);

[0054] Luffing does not work, single lifting works:

[0055] The initial lifting height is set to H;

[0056] If the hoist rises, the hoisting height can be calculated through the hoisting encoder and defined as H5;

[0057] If the lifting and lowering is carried out, the lifting and lowering height can be calculated through the lifting encoder and defined as H6;

[0058] At this time, it is only necessary to control the lifting H5 or lowering H6 of the hoisting device cable drum.

[0059] Through combination, if the lifting mechanism and the luffing mechanism are linked:

[0060] 1. The boom of the luffing mechanism increases downward, and the lifting mechanism descends. At this time, the cable drum of the spreader is: total change Htotal = H3-H6. If Htotal ≥ 0, the cable drum of the spreader releases the cable downward; if Htotal < 0, the cable drum of the spreader reels the cable upward.

[0061] 2. The boom of the luffing mechanism moves downward, and the lifting mechanism rises. At this time, the cable drum of the hoist is:

[0062] The total change Htotal=H3+H6, and the cable is reeled in on the cable drum of the hoist.

[0063] 3. The boom of the luffing mechanism decreases upwards, and the lifting mechanism decreases. The same calculation can be applied.

[0064] 4. The boom of the luffing mechanism decreases upwards, and the lifting mechanism rises. The same calculation can be applied.

[0065] This embodiment discloses a method for controlling the retraction and extension of a cable drum of a gantry crane boom hoist, comprising the following steps:

[0066] S1. A current position parameter acquisition unit acquires current position parameters, where the position parameters include a hoisting height of the hoist and an angle of the boom.

[0067] S2. Predict the working status at the next time. The working status includes: the working status of the spreader and the working status of the boom. The working status of the spreader includes lifting, lowering and constant height, and the working status of the boom includes increasing and decreasing rotation angle and constant position. The prediction is made according to the preset parameters. The main purpose is to complete the cable laying in advance before the spreader changes position to avoid the cable being broken.

[0068] S3, according to the next working state, the adjustment value is output to the reel controller through the predicted position calculation unit, so that the reel controller moves; here, the cable is released in advance and the cable is reeled in late;

[0069] S4. After the next time working state is completed, the latest position parameters are obtained, and the correction adjustment value is output through the parameter correction unit to control the movement of the drum controller. Here, when the difference between the cable and the spreader is too large, the modification is made to ensure that the cable is not broken and the cable is not tangled.

[0070] The cable control and retracting system for the cable drum of the gantry crane boom hoist provided in this embodiment effectively improves the operating safety and efficiency of the crane and reduces maintenance costs.

[0071] The above is only an embodiment of the present invention, and the common sense such as the specific structure and characteristics disclosed in the scheme is not described in detail here. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. Any figure mark in the claims should not be regarded as limiting the claims involved.

Claims

1. A cable reel control and release system for a gantry crane boom hoist, characterized in that: include: A cable drum is installed at one end of a sling provided on the boom, a cable is provided on the sling, one end of the cable is installed on the cable drum, and the cable is retracted and released by rotating the cable drum; Lifting absolute encoder, used to measure the lifting height of the hoisting device; Amplitude measurement device, used to measure the boom rotation angle; The cable drum controller is used to control the rotation direction of the cable drum and obtain the adjustment data of the cable drum according to the data of the lifting absolute value encoder and the amplitude measurement device.

2. The cable reel control and release system for the gantry crane boom hoist according to claim 1 is characterized in that: The reel controller includes a retractable prediction module and a retractable control module. The retractable prediction module is used to obtain prediction data according to the current motion state and control the retractable control module to control the cable reel.

3. The cable reel control and release system for the gantry crane boom hoist according to claim 2 is characterized in that: The retraction and release prediction module includes a current position parameter acquisition unit, a predicted position calculation unit and a parameter correction unit.

4. A method for controlling the retraction and extension of a cable drum of a gantry crane boom hoist, based on the cable control retraction and extension system of a cable drum of a gantry crane boom hoist according to claim 3, characterized in that: The following steps are involved: S1. A current position parameter acquisition unit acquires current position parameters, where the position parameters include a hoisting height of a spreader and an angle of a boom; S2. Predict the working state at the next time. The working state includes: the working state of the spreader and the working state of the boom. The working state of the spreader includes lifting, descending and constant height. The working state of the boom includes increasing and decreasing rotation angle and constant position. S3, according to the next working state at a time, outputting the adjustment value to the reel controller through the predicted position calculation unit, so that the reel controller moves; S4. After the next time working state is completed, the latest position parameter is obtained, and the correction adjustment value is output through the parameter correction unit to control the movement of the reel controller.

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