Multi-orifice positioning control system of movable hoist

Abstract

The utility model discloses a multi-orifice positioning control system of a mobile hoist, which comprises an RFID (Radio Frequency Identification Device) module, a first RFID (Radio Frequency Identification Device) module and a second RFID module, wherein the RFID module comprises a first RFID arranged at each orifice and corresponding to each orifice; the RFID card reader is arranged on the movable hoist; the variable-frequency driving module is arranged on the movable hoist, is used for driving the movable hoist to move on the track and comprises a frequency converter and a variable-frequency motor connected with the frequency converter, and an encoder is arranged on a rotating shaft of the variable-frequency motor; and the control module is connected with the RFID card reader, the encoder and the frequency converter so as to acquire data of the RFID card reader and the encoder and output signals to the frequency converter so as to control the operation of the variable frequency motor. By means of the mode of combining coarse positioning and fine positioning, the movable hoist can be positioned in a high-precision mode, the positioning precision reaches + / -5mm, the production cost can be effectively controlled, and the overall cost is only 30%-40% of that of a servo system.

Description

Technical Field

[0001] This utility model relates to the field of water conservancy and hydropower engineering equipment technology, and in particular to a multi-orifice positioning control system for a mobile gate hoist. Background Technology

[0002] With the continuous expansion of the scale of water conservancy and hydropower projects, the demand for and use of lifting equipment is increasing. Lifting equipment installed on the top of hydropower station dams is generally called a gate hoist, mainly used to open and close hydraulic steel gates and trash racks. Among them, gantry gate hoists are characterized by large lifting loads and long spatial movement distances. They mainly consist of a gantry crane, traveling device, lifting drum, and grab beam device, playing a crucial role in the normal drainage and flood control of steel gates, regulation of domestic water supply, farmland irrigation, water conservancy and transportation, and hydropower generation.

[0003] Compared to stationary lifting equipment, dam-top gate hoists in hydropower stations need to move back and forth on tracks to move the gates in and out of different positions. Currently, the positioning of the gate and gate slot in hydropower station gantry cranes mainly relies on communication between the gantry crane operator and ground control personnel to determine the gantry crane's position. Signals from the ground control personnel are used to operate the gantry crane for deceleration and braking, or positioning is achieved using a single limit switch. This results in low positioning accuracy (typically ±10-20mm), which cannot meet the precise alignment requirements of multiple orifices. Furthermore, some existing technologies use high-precision servo systems for precise movement and positioning; however, these systems are expensive and difficult for small and medium-sized projects to afford. Utility Model Content

[0004] This utility model provides a multi-orifice positioning control system for a mobile gate hoist, which solves the problems of low positioning accuracy and high cost of high-precision positioning systems in the prior art.

[0005] According to one aspect of the present invention, a multi-orifice positioning control system for a mobile gate hoist is provided, comprising:

[0006] An RFID module, comprising a first RFID corresponding to each aperture, located at each aperture;

[0007] RFID card reader, installed on the mobile gate opener;

[0008] A variable frequency drive module, installed on a mobile gate hoist for driving the mobile gate hoist to move on a track, includes a frequency converter and a variable frequency motor connected to the frequency converter, wherein an encoder is installed on the shaft of the variable frequency motor;

[0009] The control module connects to the RFID reader, encoder, and frequency converter to acquire data from the RFID reader and encoder, and outputs signals to the frequency converter to control the operation of the variable frequency motor.

[0010] This invention relates to a mobile gate hoist orifice positioning control system. The control module and frequency converter drive module control the mobile gate hoist's movement speed. Simultaneously, the control system, connected to an encoder, calculates the displacement distance of the mobile gate hoist, allowing for speed control based on this displacement distance. Furthermore, by integrating an RFID reader and RFID module, the system can directly stop the mobile gate hoist once the reader reads the RFID tag indicating the target location, achieving precise positioning. This invention combines coarse and fine positioning, achieving high-precision positioning of the mobile gate hoist (±5mm accuracy) while effectively controlling production costs; the overall cost is only 30%–40% of that of a servo system.

[0011] In some embodiments, the RFID module further includes a second RFID disposed on both sides of each opening along the track path direction, the second RFID being spaced apart from the first RFID by a first gap distance.

[0012] Therefore, by setting it up in this way, it is also possible to use the second RFID, which is set at a preset distance on both sides of the target position, to combine with the calculation of the displacement distance of the current mobile gate hoist. Specifically, it can be set to trigger one of them, or it can be set to trigger only when both conditions are met, thereby further improving the accuracy of the position judgment of the current mobile gate hoist.

[0013] In some embodiments, limit switches are provided at both ends of the track, and the limit switches are configured as normally closed contacts connected in series with the control circuit of the frequency converter drive module.

[0014] Therefore, by setting it up in this way, the control circuit can be automatically disconnected when the mobile hoist moves to the end of the track, thus preventing the mobile hoist from running off the track.

[0015] In some implementations, the control module is a PLC.

[0016] In some implementations, the control module has a built-in EEPROM.

[0017] Therefore, by using this configuration, the acquired data can be stored using EEPROM (Electrically Erasable Programmable Read-Only Memory), thus retaining the acquired encoder data even after a power outage, so that the mobile hoist can be automatically controlled to return to its position before the power outage after a power outage restart.

[0018] In some implementations, an alarm module is also included, which is connected to the control module.

[0019] Therefore, by setting it up in this way, an alarm warning can be issued when the RFID reader fails to read the first RFID corresponding to the target location for an extended period of time, so as to remind the user that the current position of the mobile gate opener may be incorrect.

[0020] In some implementations, the alarm module includes a buzzer and / or a warning light.

[0021] In some implementations, the control module is equipped with a high-speed counter connected to the encoder for calculating the travel distance of the mobile gate hoist.

[0022] In some implementations, the control module outputs a signal to the frequency converter to control the operation of the variable frequency motor, giving the variable frequency drive module a first control mode and a second control mode. The first control mode is a full-speed operation mode, and the second control mode is a slow-speed operation mode. The slow-speed operation mode is set to output a pulse frequency of no more than 10Hz, and the travel distance corresponding to a single pulse is no more than 1mm.

[0023] Therefore, by setting it up in this way, the mobile hoist can run at full speed in the first control mode, reducing the overall movement time and quickly approaching the target position. After approaching the target position, the second control mode is used to perform inching operation to slowly approach the target position, so that the operation can be stopped immediately when the first RFID corresponding to the target position is identified, thereby improving the positioning accuracy.

[0024] In some implementations, the encoder signal is transmitted differentially, and the RFID module is encapsulated in a corrosion-resistant ceramic package.

[0025] Therefore, this configuration can improve the overall system's anti-interference performance and adapt to humid environments. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the multi-orifice positioning control system of a mobile gate hoist according to one embodiment of the present invention.

[0028] Figure 2 This is a schematic diagram of the multi-orifice positioning control system of a mobile gate hoist according to another embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of the mobile gate opener, track, and orifice structure of a multi-orifice positioning control system for a mobile gate opener according to one embodiment of the present invention.

[0030] Explanation of reference numerals in the attached diagram: 1. RFID module; 2. RFID reader; 3. Variable frequency drive module; 31. Variable frequency drive; 32. Variable frequency motor; 33. Encoder; 4. Control module; 5. Alarm module; 6. Orifice; 7. Track; 8. Mobile hoist; 9. Limit switch. Detailed Implementation

[0031] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0032] In the description of this application, it should be understood that the use of terms such as "center," "middle," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" to indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings is solely for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Features defined with "first" and "second" are used to distinguish feature names and do not have special meanings. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0033] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] It should also be noted that, in this document, the terms "comprising" or "including" include not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The terminology used herein is generally that commonly used by those skilled in the art; in case of any discrepancy with commonly used terminology, the terminology used herein shall prevail.

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0036] The present invention will now be described in further detail with reference to the accompanying drawings.

[0037] Figure 1 The schematic diagram illustrates the modular composition of the multi-orifice positioning control system of a mobile gate hoist according to one embodiment of the present invention, with reference to... Figure 1 As shown, the multi-port positioning control system of the mobile gate hoist of this utility model includes the following modules: RFID module, RFID card reader 2, frequency conversion drive module 3 and control module.

[0038] The RFID module includes a first RFID tag positioned at each orifice 6, corresponding to each orifice 6. It is understood that multiple first RFID tags are provided for each orifice 6, and each orifice 6 corresponds to a different first RFID tag, thus enabling the determination of whether the mobile gate hoist 8 has reached the corresponding orifice 6 position by identifying the first RFID tag. Specifically, in some possible embodiments, the RFID module may further include second RFID tags positioned on both sides of each orifice 6 along the path direction of the track 7, with a first interval distance between the second RFID tags and the first RFID tags. The purpose of the second RFID tags is to serve as a notification of approaching the target position. For example, the first interval may be set to 100mm, thus the second RFID tags are specifically positioned 100mm to either side of the first RFID tags. When a second RFID signal is read, it indicates that the mobile gate hoist 8 is currently within 100mm of the target position, allowing for the execution of different control procedures based on this signal. It is understood that more second RFID tags may be provided, thus enabling the representation of more different distances from the first RFID tags, as long as it does not affect the RFID tags of adjacent orifices 6. The RFID modules can all use RFID with corrosion-resistant ceramic encapsulation to effectively improve the anti-interference performance of the overall system.

[0039] An RFID reader 2 is installed on the mobile gate opener 8 to read the RFID of the RFID module, which is used to accurately locate the current position of the mobile gate opener 8.

[0040] A variable frequency drive module 3 is installed on the mobile gate hoist 8 to drive the mobile gate hoist 8 to move on the track 7. It includes a frequency converter 31 and a variable frequency motor 32 connected to the frequency converter 31. The frequency converter 31 controls the operation of the variable frequency motor 32, thereby controlling the speed of the mobile gate hoist 8 during movement. An encoder 33 is installed on the shaft of the variable frequency motor 32 to monitor the number of rotations of the shaft. Specifically, the encoder 33 can be an incremental encoder.

[0041] The control module is connected to the RFID reader 2, encoder 33, and frequency converter 31 to acquire data from the RFID reader 2 and encoder 33. By acquiring data from the RFID reader 2, it can determine whether the mobile gate hoist 8 has moved to the target position. By acquiring data from the encoder 33, it can perform simple calculations to determine the displacement distance of the mobile gate hoist 8. Combined with pre-stored position information of each orifice 6, it can determine the distance between the mobile gate hoist 8 and the target position. Simultaneously, the control module is connected to the frequency converter 31 and can output signals to control the frequency converter 31, thereby controlling the operation of the variable frequency motor 32. Furthermore, the control module can output signals to control the frequency converter 31 based on the data from the RFID reader 2 and encoder 33, thereby controlling the moving speed of the mobile gate hoist 8 to achieve a faster speed when far from the target position and a slower speed when near the target position. The control module can be implemented using a PLC. The PLC can process and store the data acquired from the RFID reader 2 and encoder 33 through its built-in storage and data processing units. Simultaneously, it generates corresponding output signals based on the acquired data from the RFID reader 2 and encoder 33, transmitting them to the frequency converter 31 to control the frequency converter 31. The PLC can also have a built-in high-speed counter to work with the encoder 33 to count the number of rotations of the variable frequency motor 32, recording and calculating the current moving distance of the mobile gate hoist 8. The encoder 33 signal can use differential transmission to improve the overall system's anti-interference performance.

[0042] Specifically, the control module can output two types of signals to the frequency converter 31: one enabling the frequency converter drive module 3 to have a first control mode, and the other enabling it to have a second control mode. The first control mode is a full-speed operation mode, and the second control mode is a slow-speed operation mode. The slow-speed operation mode is set so that the output pulse frequency is no greater than 10Hz, and the travel distance corresponding to a single pulse is no greater than 1mm. With this setting, the overall control module can calculate the current travel distance of the mobile gate hoist 8 by monitoring the data from the encoder 33 in real time during operation, thereby determining the distance between the mobile gate hoist 8 and the target position. For example, when the monitoring and calculation show that the mobile gate hoist 8 is more than 100mm away from the target position, a signal can be output to set the frequency converter drive module 3 to the first control mode, i.e., the full-speed operation mode, so that it can move to the vicinity of the target position more quickly. When the monitoring and calculation determine that the mobile gate hoist 8 is within 100mm of the target position, a signal is output to set the frequency converter drive module 3 to the second control mode, namely the slow operation mode (jog mode), so that the mobile gate hoist 8 gradually approaches the target position. When the first RFID read and identification signal corresponding to the target position is obtained, it indicates that the mobile gate hoist 8 has reached the target position, and a signal can be output to stop the frequency converter drive module 3. In an embodiment where the RFID module is also equipped with a second RFID, the control module can also be set to switch to the second control mode when the read and identification signals of the second RFID on both sides of the first RFID corresponding to the target position are detected, or when both the second RFID read and identification signals are detected and the monitoring and calculation determine that the mobile gate hoist 8 is within 100mm of the target position, the control module will switch to the second control mode. The above control methods can all be adjusted according to the actual situation.

[0043] In some possible implementations, refer to Figure 2 As shown, it may also include an alarm module 5, which is connected to the control module to initiate an alarm warning based on the output signal of the control module. Specifically, after the mobile gate opener 8 switches to the second control mode, it may be triggered if the first RFID reading and identification signal corresponding to the target location is not read and identified within a certain period of time, so as to output a signal to the alarm module 5 to issue a warning reminder to the user. The alarm module 5 may include a buzzer and / or a warning light, thereby reminding the user from both audible and visual perspectives.

[0044] In addition, the control module can also have a built-in EEPROM. In this case, the power failure restart recovery function can be implemented through the EEPROM built into the PLC. Specifically, it can be set to update the count value of encoder 33 into the EEPROM at regular intervals, and read the encoder 33 data in the EEPROM when the system starts, start the frequency converter drive module 3 of the mobile gate hoist 8 to move the mobile gate hoist 8 to the position corresponding to the encoder 33 data, thereby restoring the position before the power failure.

[0045] In some other possible implementations, refer to Figure 3 As shown, limit switches 9 can be installed at both ends of the track 7. These limit switches 9 are normally closed contacts connected in series with the control circuit of the frequency converter drive module 3. With this configuration, when the mobile gate hoist 8 contacts the limit switch 9, the normally closed contact is triggered to open, thereby disconnecting the control circuit, automatically disconnecting the drive of the frequency converter drive module 3, and stopping the continued movement of the mobile gate hoist 8.

[0046] The orifice 6 positioning control system of this utility model's mobile gate hoist 8 can control the moving speed of the mobile gate hoist 8 through the control module and the frequency conversion drive module 3. Simultaneously, the control system, connected to the encoder 33, can calculate the displacement distance of the mobile gate hoist 8, thus combining with the function of controlling the moving speed of the mobile gate hoist 8 to achieve speed control based on the displacement distance. Furthermore, by combining the RFID reader 2 and the RFID module, after the RFID reader 2 reads the RFID of the target position to be reached by the mobile gate hoist 8, it can directly control the mobile gate hoist 8 to stop, achieving precise positioning. This utility model, through a combination of coarse and fine positioning, achieves both high-precision positioning of the mobile gate hoist 8 (accuracy ±5mm) and effective control of production costs, with the overall cost only 30% to 40% of that of a servo system.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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. Such 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 this application.

Claims

1. A multi-orifice positioning control system for a mobile gate hoist, characterized in that, include: An RFID module, comprising a first RFID corresponding to each aperture, located at each aperture; RFID card reader, installed on the mobile gate opener; A variable frequency drive module, installed on a mobile gate hoist for driving the mobile gate hoist to move on a track, includes a frequency converter and a variable frequency motor connected to the frequency converter, wherein an encoder is installed on the shaft of the variable frequency motor; The control module connects to the RFID reader, encoder, and frequency converter to acquire data from the RFID reader and encoder, and outputs signals to the frequency converter to control the operation of the variable frequency motor.

2. The multi-orifice positioning control system for a mobile gate hoist according to claim 1, characterized in that, The RFID module also includes a second RFID on both sides of each opening along the track path, with a first gap distance between the second RFID and the first RFID.

3. The multi-orifice positioning control system for a mobile gate hoist according to claim 1, characterized in that, Limit switches are provided at both ends of the track, and the limit switches are configured as normally closed contacts connected in series with the control circuit of the frequency conversion drive module.

4. The multi-orifice positioning control system for a mobile gate hoist according to claim 1, characterized in that, The control module is a PLC.

5. The multi-orifice positioning control system for a mobile gate hoist according to claim 1, characterized in that, The control module has a built-in EEPROM.

6. The multi-orifice positioning control system for a mobile gate hoist according to claim 1, characterized in that, It also includes an alarm module, which is connected to the control module.

7. The multi-orifice positioning control system for a mobile gate hoist according to claim 6, characterized in that, The alarm module includes a buzzer and / or a warning light.

8. The multi-orifice positioning control system for a mobile gate hoist according to claim 1, characterized in that, The control module is equipped with a high-speed counter, which is connected to the encoder to calculate the moving distance of the mobile gate hoist.

9. The multi-orifice positioning control system for a mobile gate hoist according to any one of claims 1 to 8, characterized in that, The control module outputs a signal to the frequency converter to control the operation of the variable frequency motor, so that the variable frequency drive module has a first control mode and a second control mode. The first control mode is a full-speed operation mode, and the second control mode is a slow-speed operation mode. The slow-speed operation mode is set to output a pulse frequency of no more than 10Hz and a single pulse corresponding to a travel distance of no more than 1mm.

10. The multi-orifice positioning control system for a mobile gate hoist according to any one of claims 1 to 8, characterized in that, The encoder signal uses differential transmission, and the RFID module is encapsulated in corrosion-resistant ceramic.

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