Control system for monorail hoist

Abstract

The invention relates to the technical field of hanging equipment, in particular to a control system for a monorail crane, which comprises a crane transmission framework group, a whole vehicle control system, a power supply driving single board, a monorail crane driving group, a monorail crane driving group control module and a speed sensing module, the time for the monorail hoist to pass through the curve in a constant speed state is measured according to the length of an external stroke path of the monorail hoist I-steel rail curve, and the specific moment when the current traveling speed of a speed sensor passes through the curve is measured according to the length of an internal stroke path of the monorail hoist I-steel rail curve; the monorail crane driving group control module uploads the turning starting data to the whole vehicle control system through CAN communication, the whole vehicle control system approves and resets the running speed of the monorail crane driving group, and finally, the monorail crane driving group controls a motor in a monorail crane driving part to run at a regulated speed. And turning constant-speed control is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of hanging equipment, in particular to a control system for a monorail crane. Background Art

[0002] The monorail crane is a system that uses a special I-beam suspended above the roadway as a track, and is connected by a group of hanging vehicles with various functions, and is towed by traction equipment to run along the track. Its traction power is currently mainly provided by diesel engines and batteries. However, the commonly used lithium-ion monorail crane control system has the following problems: the commonly used lithium-ion monorail crane control system needs to send the same speed command to six groups of monorail crane drivers at the same time. Since the track of the monorail crane has a turn, the distance travel on both sides of the I-beam is not consistent. The two power wheels of the same driving component have the same speed when passing through the turn, which will cause the driving wheel with a shorter travel to slip and stall, resulting in a decrease in load capacity, further affecting the control stability of the monorail crane and the service life of the equipment. Although the speed difference between the two wheels of the vehicle turning can be measured in the prior art, because the load-bearing capacity of the monorail crane is different from that of the traditional vehicle, the monorail crane is a rail-driven transmission, and the connection between the driver and the driving wheel will not produce steering itself, but only serve as a transmission part, and multiple driving components will be arranged on its periphery to control the corresponding driving wheels, and synchronous control is required during the cornering adjustment. The vehicle turns by relying on the main wheel's own rotation in a trackless state. The existing technical means cannot be adapted to the cornering control processing of the monorail crane with multiple drivers, so the running speed of each monorail crane driver when turning cannot be accurately given. Summary of the invention

[0003] In view of the problems in the prior art, in order to solve the phenomenon of slipping and stalling caused by speed difference of the power wheels at a turn, a method of centrally controlling six drives on a monorail crane is proposed, that is, a given method of setting the drive speed by speed difference, and centrally controlling the operating speed of the six drives to ensure the smoothness of the monorail crane when passing through the curve, thereby solving the technical problem.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a control system for a monorail crane, including a crane transmission structure group, and also including a whole vehicle control system, a power drive single board, a monorail crane drive group, a monorail crane drive group control module and a speed sensing module, the power drive single board is connected to the monorail crane drive group control module, the monorail crane drive group control module is connected to the monorail crane drive group, and the monorail crane drive group control module is connected to the speed sensing module.

[0005] As a further solution of the present invention, the speed sensing module is fixedly connected to the monorail crane body, and the speed sensing module includes two head speed sensors and two tail speed sensors, which are used to collect the speed difference of the power wheels in the monorail crane driving component at the turning point during forward or reverse movement. The monorail crane driving group control module is used to record the specific time when the speed sensor enters the curve position, and after the speed sensor enters the curve position, the time taken by the monorail crane to pass the curve under a constant speed state is determined according to the external travel path length of the monorail crane I-beam curve, and the specific time when the current speed sensor passes the curve is determined according to the internal travel path length of the monorail crane I-beam curve. After obtaining the above-mentioned turning start data, the monorail crane driving group control module uploads the above-mentioned turning start data to the whole vehicle control system through CAN communication, and the whole vehicle control system approves and resets the operating speed of the monorail crane driving group. Finally, the monorail crane driving group controls the speed regulation operation of the motor in the monorail crane driving component to achieve uniform speed control when turning.

[0006] As a further solution of the present invention, the crane transmission structure group is composed of a monorail crane I-beam track, three groups of driving components and power wheels symmetrically installed at both ends of the driving components. The three groups of driving components are numbered as driving component B1, driving component B2 and driving component B3 respectively.

[0007] As a further solution of the present invention, the monorail crane drive group includes at least six drivers, every two drivers are set as a group, and each group is numbered as driver Q11, driver Q21 and driver Q31 respectively, the driver Q11 is connected to the drive component B1, the driver Q21 is connected to the drive component B2, and the driver Q31 is connected to the drive component B3, the two head speed sensors are symmetrically arranged on both sides of the drive component B1, and the two tail speed sensors are symmetrically arranged on both sides of the drive component B3.

[0008] As a further solution of the present invention, the process of constructing the cornering start data is as follows:

[0009] The outer diameter of the I-beam track of the monorail crane is set to R1, the outer track length is set to S1, the inner diameter length is set to R2, the inner track length is set to S2, the initial running speed of the monorail crane is set to V0, the two head speed sensors are set to T1 and T2 respectively, and the two tail speed sensors are set to W1 and W2 respectively;

[0010] The length of the outer travel path of the curve is:

[0011]

[0012] The monorail crane is set to constant speed mode. The time it takes for the monorail crane to pass through the curve is:

[0013]

[0014] The length of the internal travel path of the curve is:

[0015]

[0016] The monorail crane has been set to constant speed mode, and the speed sensor module travels at the following speeds:

[0017]

[0018] It can be seen that after the time T0 taken by the monorail crane to pass through the curve is over, the speed sensor module can pass through the entire curve.

[0019] As a further solution of the present invention, the control process of the cornering uniform speed control is:

[0020] The distance between the driving component B1 and the head velocity sensor T1 / T2 is L1;

[0021] Drive component B1 At this moment, the vehicle control system sets the running speed of the monorail crane drive group Q11 to The operating speed of other drives is set to V0;

[0022] The distance between the driving component B2 and the head velocity sensor T1 / T2 is L2;

[0023] Drive component B2 When the vehicle reaches the curve, the vehicle control system sets the operating speed of the driver Q21 to The operating speed of other drives is set to V0;

[0024] The distance between the driving component B3 and the head velocity sensor T1 / T2 is L3. When the vehicle reaches the curve, the vehicle control system sets the operating speed of the driver Q31 to The operating speed of other drives is set to V0.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: the present technical solution proposes for the first time a method of centrally controlling six-wheel drive on a monorail crane, and the specific moment when the speed sensor enters the curve position is recorded by the monorail crane drive group control module, and after the speed sensor enters the curve position, the time taken by the monorail crane to pass through the curve under a constant speed state is determined according to the length of the external travel path of the monorail crane I-beam curve, and the specific moment when the current speed sensor passes through the curve is determined according to the length of the internal travel path of the monorail crane I-beam curve, and after obtaining the above-mentioned curve start data, the monorail crane drive group control module uploads the above-mentioned curve start data to the whole vehicle control system through CAN communication, and the whole vehicle control system approves and resets the running speed of the monorail crane drive group, and finally the monorail crane drive group controls the speed regulation operation of the motor in the monorail crane drive component, and synchronously controls the curve uniform speed of multiple drives, so as to avoid the phenomenon that the driving wheel with a shorter travel slips and stalls due to the power wheel still keeping the same speed when passing through the curve. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0027] Figure 1 It is a structural schematic diagram of an existing monorail crane system.

[0028] Figure 2 It is a structural composition diagram of the crane transmission frame group in the present invention.

[0029] Figure 3 This is a schematic diagram of the travel path of the transmission structure group after the speed sensor module is installed in the present invention.

[0030] Figure 4 It is a composition diagram of the present invention.

[0031] Figure 5 It is a schematic diagram of the forward travel path of the crane transmission structure assembly in the present invention.

[0032] Figure 6 The present invention is a flow chart of the uniform speed control during cornering. DETAILED DESCRIPTION

[0033] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0034] like Figure 1 - Figure 6As shown, a control system for a monorail crane described in the present invention includes a crane transmission structure group, and also includes a vehicle control system, a power drive single board, a monorail crane drive group, a monorail crane drive group control module and a speed sensing module. The power drive single board is connected to the monorail crane drive group control module, the monorail crane drive group control module is connected to the monorail crane drive group, and the monorail crane drive group control module is connected to the speed sensing module.

[0035] In an optional implementation of the present embodiment, a speed sensing module is fixedly connected to the monorail crane body, the speed sensing module includes two head speed sensors and two tail speed sensors, the speed sensing module is used to collect the speed difference of the power wheels in the monorail crane driving component at the turning point during forward or reverse movement, the monorail crane driving group control module is used to record the specific moment when the speed sensor enters the curve position, and after the speed sensor enters the curve position, the time taken by the monorail crane to pass the curve under a constant speed state is determined according to the external travel path length of the monorail crane I-beam curve, and the specific moment when the current speed sensor passes the curve is determined according to the internal travel path length of the monorail crane I-beam curve. After obtaining the above-mentioned turning start data, the monorail crane driving group control module uploads the above-mentioned turning start data to the vehicle control system through CAN communication, and the vehicle control system approves and resets the running speed of the monorail crane driving group, and finally the monorail crane driving group controls the speed regulation operation of the motor in the monorail crane driving component to achieve uniform speed control when turning.

[0036] Please refer to the attached drawings in the instruction manual Figure 4 The lithium battery in the monorail crane is connected to the monorail crane drive group for power supply. The monorail crane drive group controls the permanent magnet motor in the drive component, and the permanent magnet motor drives the power wheel in the drive component to drive the monorail crane. The monorail crane drive control module and the whole machine control system exchange data through CAN communication to complete the collection and upload of relevant information and the linkage control of the whole machine system.

[0037] In an optional implementation of this embodiment, the crane transmission structure group is composed of a monorail crane I-beam track, three groups of driving components and power wheels symmetrically installed at both ends of the driving components. The three groups of driving components are numbered as driving component B1, driving component B2 and driving component B3 respectively.

[0038] In an optional implementation of the present embodiment, the monorail crane drive group includes at least six drivers, and every two drivers are set as a group. Each group is numbered as driver Q11, driver Q21 and driver Q31 respectively. Driver Q11 is connected to driving component B1, driver Q21 is connected to driving component B2, and driver Q31 is connected to driving component B3. Two head speed sensors are symmetrically arranged on both sides of driving component B1, and two tail speed sensors are symmetrically arranged on both sides of driving component B3.

[0039] Please refer to the attached drawings in the manual Figure 5 In an optional implementation of this embodiment, the process of constructing the turning start data is as follows:

[0040] The outer diameter of the I-beam track of the monorail crane is set to R1, the outer track length is set to S1, the inner diameter length is set to R2, the inner track length is set to S2, the initial running speed of the monorail crane is set to V0, the two head speed sensors are set to T1 and T2 respectively, the time taken by the monorail crane to pass the curve is set to T0, and the two tail speed sensors are set to W1 and W2 respectively;

[0041] The length of the outer travel path of the curve is:

[0042]

[0043] Set the monorail crane to constant speed mode. The time it takes for the monorail crane to pass through the curve is:

[0044]

[0045] The length of the internal travel path of the curve is:

[0046]

[0047] Since the monorail crane has been set to constant speed mode, the speed of the speed sensor module is:

[0048]

[0049] It can be seen that after the time T0 taken by the monorail crane to pass through the curve is over, the speed sensor module can pass through the entire curve.

[0050] In an optional implementation of this embodiment, the control process of the cornering uniform speed control is:

[0051] The distance between the driving component B1 and the head velocity sensor T1 / T2 is L1;

[0052] Drive component B1 At this moment, the vehicle control system sets the running speed of the monorail crane drive group Q11 to The operating speed of other drives is set to V0;

[0053] The distance between the driving component B2 and the head velocity sensor T1 / T2 is L2;

[0054] Drive component B2 When the vehicle reaches the curve, the vehicle control system sets the operating speed of the driver Q21 to The operating speed of other drives is set to V0;

[0055] The distance between the driving component B3 and the head velocity sensor T1 / T2 is L3. When the vehicle reaches the curve, the vehicle control system sets the operating speed of the driver Q31 to The operating speed of other drives is set to V0.

[0056] The above control method can realize different speed control of different monorail crane drives in the monorail crane system, ensuring smooth travel of the monorail crane when passing through curves.

[0057] Please refer to the attached drawings in the manual Figure 6 , the forward control method applied to multiple drive components to drive a monorail crane is as follows: the distances between the drive components and the head sensors T1 / T2 are set to L1, L2, to Ln. In this part, the monorail crane control module and the vehicle control system are no longer distinguished. The monorail crane is set to run at a speed of V0, and the running direction is forward. The monorail crane control module monitors the feedback speed of the head speed sensor T1 / T2 in real time. When the speed sensor speed is lower than the speed V0, it can be seen that a curve appears. The time for the same-side driver to reach the curve is calculated to give the current moving speed of the head speed sensor T1 / T2. The reverse control method of the monorail crane with multiple drive components is consistent with the forward control method.

[0058] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A control system for a monorail crane, comprising a crane transmission frame assembly, characterized in that: It also includes a vehicle control system, a power drive single board, a monorail crane drive group, a monorail crane drive group control module and a speed sensing module, wherein the power drive single board is connected to the monorail crane drive group control module, the monorail crane drive group control module is connected to the monorail crane drive group, and the monorail crane drive group control module is connected to the speed sensing module; The speed sensing module is fixedly connected to the monorail crane body, and the speed sensing module includes two head speed sensors and two tail speed sensors, which are used to collect the speed difference of the power wheels in the monorail crane driving components at the turning point during the forward or reverse process. The monorail crane driving group control module is used to record the specific time when the speed sensor enters the curve position, and after the speed sensor enters the curve position, the time taken by the monorail crane to pass the curve under a constant speed state is determined according to the length of the external travel path of the monorail crane I-beam curve, and the specific time when the current speed sensor passes the curve is determined according to the length of the internal travel path of the monorail crane I-beam curve.

2. A control system for a monorail crane according to claim 1, characterized in that: The monorail crane drive group control module obtains the turning start data, and uploads the above turning start data to the whole vehicle control system through CAN communication. The whole vehicle control system verifies and resets the operating speed of the monorail crane drive group. Finally, the monorail crane drive group controls the speed regulation operation of the motor in the monorail crane drive component to achieve uniform speed control when turning.

3. A control system for a monorail crane according to claim 1, characterized in that: The crane transmission structure group consists of a monorail crane I-beam track, three groups of driving components and power wheels symmetrically installed at both ends of the driving components. The three groups of driving components are numbered as driving component B1, driving component B2 and driving component B3 respectively.

4. A control system for a monorail crane according to claim 1, characterized in that: The monorail crane drive group includes at least six drivers, with every two drivers being set as a group, and each group is numbered as driver Q11, driver Q21 and driver Q31 respectively.

5. A control system for a monorail crane according to claim 4, characterized in that: The driver Q11 is connected to the driving component B1, the driver Q21 is connected to the driving component B2, the driver Q31 is connected to the driving component B3, the two head speed sensors are symmetrically arranged on both sides of the driving component B1, and the two tail speed sensors are symmetrically arranged on both sides of the driving component B3.

6. A control system for a monorail crane according to claim 1, characterized in that: The process of constructing the cornering start data is as follows: The outer diameter of the I-beam track of the monorail crane is set to R1, the outer track length is set to S1, the inner diameter length is set to R2, the inner track length is set to S2, the initial running speed of the monorail crane is set to V0, the two head speed sensors are set to T1 and T2 respectively, and the two tail speed sensors are set to W1 and W2 respectively; The length of the outer travel path of the curve is: The monorail crane is set to constant speed mode. The time it takes for the monorail crane to pass through the curve is: The length of the internal travel path of the curve is: The monorail crane has been set to constant speed mode, and the speed sensor module travels at the following speeds: It can be seen that after the time T0 taken by the monorail crane to pass through the curve is over, the speed sensor module can pass through the entire curve.

7. A control system for a monorail crane according to claim 1, characterized in that: The control process of cornering uniform speed control is as follows: The distance between the driving component B1 and the head velocity sensor T1 / T2 is L1; Drive component B1 At this moment, the vehicle control system sets the running speed of the monorail crane drive group Q11 to The operating speed of other drives is set to V0; The distance between the driving component B2 and the head velocity sensor T1 / T2 is L2; Drive component B2 When the vehicle reaches the curve, the vehicle control system sets the operating speed of the driver Q21 to The operating speed of other drives is set to V0; The distance between the driving component B3 and the head velocity sensor T1 / T2 is L3. When the vehicle reaches the curve, the vehicle control system sets the operating speed of the driver Q31 to The operating speed of other drives is set to V0.

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