CN107298378B - A kind of force-measuring type intelligence Overhead travelling crane system - Google Patents
A kind of force-measuring type intelligence Overhead travelling crane system Download PDFInfo
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- CN107298378B CN107298378B CN201710554869.4A CN201710554869A CN107298378B CN 107298378 B CN107298378 B CN 107298378B CN 201710554869 A CN201710554869 A CN 201710554869A CN 107298378 B CN107298378 B CN 107298378B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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Abstract
The invention discloses a kind of force-measuring type intelligence Overhead travelling crane systems, are related to industrial overhead traveling crane field, including：Transport overhead traveling crane, load-carrying harvester, the material being mounted on overhead crane orbit launch drive module and electronic control module；It transports overhead traveling crane and is used for transported material；It transports overhead traveling crane and includes overhead traveling crane ontology, hoist engine, lifting rope and suspension hook；Hoist engine is installed on overhead traveling crane ontology, and suspension hook is connect by lifting rope with hoist engine；Suspension hook, which is additionally operable to hook, hangs feed bin；Transport overhead traveling crane is additionally provided with overhead traveling crane traveling drive module；Wherein, electronic module solves angle of oscillation, and overhead traveling crane is controlled to advance and realizes the rolling that disappears by acquiring load-carrying data.The present invention assesses the stability weighed by angle of oscillation, can accurate Characterization rock degree；And further solved according to angle of oscillation disappear shake needed for wave horizontal displacement L so that overhead traveling crane can accurate movement and controlling disappear rolling.The present invention only needs to obtain the maximum value and minimum value of load-carrying data, you can further solves angle of oscillation；It is convenient to solve, and calculates accurate.
Description
Technical field
The present invention relates to industrial travelling overhead crane apparatus, more particularly to a kind of force-measuring type intelligence Overhead travelling crane system.
Background technology
In the industrial production, lifting overhead traveling crane is usually used in transport production material, finished product, is the important equipment of industrialized production.
In the prior art, when feeding intake or loading article, the feed bin of overhead traveling crane can rock, and influence the handing-over efficiency of material.
Invention content
In view of the drawbacks described above of the prior art, the technical problems to be solved by the invention are to provide a kind of force-measuring type intelligence
Overhead travelling crane system, it is intended to which the rolling that disappears is carried out to feed bin.
To achieve the above object, the present invention provides a kind of force-measuring type intelligence Overhead travelling crane system, including：
The transport overhead traveling crane being mounted on overhead crane orbit, the transport overhead traveling crane are used for transported material；The transport overhead traveling crane includes
Overhead traveling crane ontology, hoist engine, lifting rope and suspension hook；The hoist engine is installed on the overhead traveling crane ontology, and the suspension hook passes through described
Lifting rope is connect with the hoist engine；The suspension hook, which is additionally operable to hook, hangs feed bin；The transport overhead traveling crane is additionally provided with overhead traveling crane traveling driving
Module, for the transport overhead traveling crane to be controlled to advance on the overhead crane orbit；
Load-carrying harvester, for acquiring the load-carrying parameter of the feed bin；
Material launches drive module, for the feed bin to be controlled to launch material；
And electronic control module；
First output terminal of the electronic control module is connect with the overhead traveling crane traveling drive module；The electronic control mould
The input terminal that the second output terminal of block launches drive module with the material is connect；The third input terminal of the electronic control module
It is connect with the output terminal of the load-carrying harvester；
The electronic control module, including：
Load value sequence construct module, for the load-carrying parameter of continuous acquisition Overhead travelling crane system, structure load-carrying value sequence Fi；
Load-carrying extreme value acquisition module, for according to the load-carrying value sequence Fi, obtain the very big mean value F of load-carryingmaxWith load-carrying pole
Small mean value Fmin；The very big mean value F of load-carryingmaxFor the load-carrying value sequence FiIn several higher values mean value, the load-carrying
Minimum mean value FminFor the load-carrying value sequence FiIn several smaller values mean value；
Angle of oscillation solves module, for solving the angle of oscillation θ for rocking behavior of the feed bin；The satisfaction：
It waves horizontal displacement and solves module, for whether judging the angle of oscillation θ beyond threshold value, if the angle of oscillation θ surpasses
Go out threshold value, then according to the angle of oscillation θ, solve to disappear and wave horizontal displacement L, the L=rsin θ needed for rolling；The r is waves
Radius；If the angle of oscillation θ carries out material and launches operation without departing from threshold value；；
Disappear and shake drive module, for waving horizontal displacement L according to, the overhead traveling crane is controlled to move.
In the present embodiment, the stability weighed is assessed by angle of oscillation；Due to angle of oscillation its physical property energy in itself
Enough reflection physical meanings well, can accurate Characterization rock degree；And it is further solved and disappeared needed for rolling according to angle of oscillation
Wave horizontal displacement L so that overhead traveling crane can accurate movement and controlling disappear rolling.In the present embodiment, it is only necessary to obtain load-carrying data
Maximum value and minimum value, you can further solve angle of oscillation；The load-carrying data can be that feed bin be weighed maximum value and minimum value
Load-carrying maximum value and minimum Value Data or feed bin pulling force of data or some interior part individual of feed bin are most
Big value and minimum value.The present embodiment, it is convenient to solve, and calculates accurate.
Optionally, the threshold value is preset value or empirical value.
In one embodiment, the load-carrying harvester is pulling force sensor；The pulling force sensor setting and institute
It states between feed bin and the hoist engine.
Optionally, the pulling force sensor is set between the lifting rope and the suspension hook；
Optionally, the pulling force sensor is set between the suspension hook and the feed bin；
Optionally, the pulling force sensor is set between the hoist engine and the lifting rope；
Optionally, the pulling force sensor is set on the lifting rope.
In one embodiment, the load-carrying harvester is weighing sensor；The weighing sensor is used to measure
The load value of object in the feed bin or feed bin.
Object includes but not limited to material in feed bin, tester in feed bin in the feed bin.Optionally, the feed bin
Interior tester weighs part for standard.It is noted that in the present invention, due to angle of oscillation and the very big mean value of load-carrying and load-carrying pole
The ratio of small mean value is related, so the object of load weighing is not limited, in fact, weighing the very big mean value of load-carrying of material bin entirety
It is equal with the ratio of the minimum mean value of load-carrying and the very big mean value of load-carrying of weighing component home with the ratio of the minimum mean value of load-carrying.
So in this embodiment, weighing sensor can select thing of weighing according to actual demand.
Optionally, it chooses the smaller thing of weighing of weight to measure, using the weighing sensor of small amount journey, reduce into
This.Optionally, it chooses the larger thing of weighing of weight to measure, raising, which disappears, shakes precision.
In one embodiment, the load-carrying parameter of the feed bin includes：Overhead traveling crane feed bin weighing data or overhead traveling crane pulling force number
According to.
In one embodiment, the load-carrying extreme value acquisition module, is additionally operable to：
From the load-carrying value sequence FiA maximum value is selected, as the very big mean value F of the load-carryingmax；
From the load-carrying value sequence FiA minimum value is selected, as the minimum mean value F of the load-carryingmin。
In the present embodiment, the maximum value directly in selection load-carrying value sequence and minimum value solve speed as load-carrying extreme value
Degree is fast.
In one embodiment, the load-carrying extreme value acquisition module, is additionally operable to：
To the load-carrying value sequence FiIt is ranked up by size, obtains the first load-carrying sequence { Fn}；1≤n of the n satisfactions≤
I, the I are the load-carrying value sequence FiSequence length；
From the first load-carrying sequence { FnIn choose before k angle of oscillation higher value { Fk}；The k meets 1≤k ＜ I；It obtains
Take the very big mean value F of the load-carryingmax, the Fmax=avg { Fk}；
From the first load-carrying sequence { FnIn choose after m angle of oscillation smaller value { Fm}；The m meets 1 ＜ m≤I；It obtains
Take the minimum mean value F of the load-carryingmin, the Fmin=avg { Fm}。
With this solution, more accurate load-carrying extreme value can be obtained, so that angle of oscillation solves accurately.
In one embodiment, the angle of oscillation solves module, is additionally operable to：
Obtain the minimum mean value F of the load-carryingminWith the very big mean value F of the load-carryingmaxRatio cc；α=the Fmin/Fmax；
Obtain the angle of oscillation θ of the overhead traveling crane；The satisfaction：
By the technical solution, the proportionate relationship of the minimum mean value of load-carrying and the very big mean value of load-carrying need to be only obtained, without examining
Consider the acquisition form of the minimum mean value of load-carrying and the very big mean value of load-carrying, improve system compatibility.
In one embodiment, described disappear shakes drive module, is additionally operable to acquire instant angle of oscillation θ in real timei, it is described
When angle of oscillation θiIn increase tendency and the θiDuring >=α θ, horizontal displacement L is waved according to described, the overhead traveling crane is controlled to move；Institute
State 0 ＜ α≤1.
Optional α=0.9；It is noted that α values are bigger, the speed that overhead traveling crane need to move is also bigger, at this point, the rolling that disappears
Operation is also more effective.It is assumed that the waved radius of overhead traveling crane Pendulum Model is 4m, overhead traveling crane rocks angle at 5 °, unilateral horizontal pan displacement
It is apparent to rock sense sense by about 0.35m.It is apparent to rock sense, and shift value is for overhead traveling crane movement velocity, horizontal pan displacement
And less, overhead traveling crane movement velocity can be met the requirements.It is assumed that angle of oscillation θ=5 °, when instant angle of oscillation reaches 4.5 °, carry out overhead traveling crane
It is mobile to realize the rolling that disappears.
By the technical solution, mobile overhead crane effectively realizes the rolling that disappears.
In one embodiment, the step S6 is further included：Judge instant angle of oscillation θiWhether increase tendency is in；Institute
It states and judges instant angle of oscillation θiIt is by the instant angle of oscillation θ of at least two before and after judgement whether to be in increase tendencyiMagnitude relationship；
If larger in rear collected instant angle of oscillation, instant angle of oscillation θ is judgediIn increase tendency.
By the technical solution, by judging instant angle of oscillation θiWhether in increase tendency, and carry out trolley movement
Realization disappears rolling, and raising, which disappears, shakes accuracy.
In one embodiment, the load-carrying value sequence FiIncluding at least a swing period.
The beneficial effects of the invention are as follows：The present invention assesses the stability weighed by angle of oscillation；Due to angle of oscillation in itself
Its physical property can be good at reflect physical meaning, can accurate Characterization rock degree；And it is further asked according to angle of oscillation
Solution disappear shake needed for waves horizontal displacement L so that overhead traveling crane can accurate movement and controlling disappear rolling.The present invention only needs to obtain load-carrying
The maximum value and minimum value of data, you can further solve angle of oscillation；The load-carrying data can be that feed bin be weighed maximum value and most
The load-carrying maximum value of some part individual and minimum Value Data or feed bin pulling force in small Value Data or feed bin
Maximum value and minimum value, it is convenient to solve, and calculates accurate.
Description of the drawings
Fig. 1 is a kind of electronic control structural representation of force-measuring type intelligence Overhead travelling crane system of the embodiment of the invention
Figure；
Fig. 2 is that overhead traveling crane feed bin in the embodiment of the invention waves model；
Fig. 3 is the structure diagram of the Overhead travelling crane system in the embodiment of the invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples：
As shown in Figs. 1-3, in the first embodiment of the invention, a kind of force-measuring type intelligence Overhead travelling crane system, the method are provided
Including：
The transport overhead traveling crane 101 being mounted on overhead crane orbit 102, the transport overhead traveling crane 101 are used for transported material；The transport
Overhead traveling crane 101 includes overhead traveling crane ontology, hoist engine 103, lifting rope 104 and suspension hook 105；The hoist engine 103 is installed on the overhead traveling crane
On ontology, the suspension hook 105 is connect by the lifting rope 104 with the hoist engine 103；The suspension hook 105, which is additionally operable to hook, hangs material
Storehouse 106；The transport overhead traveling crane 101 is additionally provided with overhead traveling crane traveling drive module 301, for controlling the transport overhead traveling crane 101 in institute
It states and advances on overhead crane orbit 102；
Load-carrying harvester 107, for acquiring the load-carrying parameter of the feed bin 106；
Material launches drive module 302, for the feed bin 106 to be controlled to launch material；
And electronic control module 200；
First output terminal of the electronic control module 200 is connect with the overhead traveling crane traveling drive module 301；The electronics
The input terminal that the second output terminal of control module 200 launches drive module 302 with the material is connect；The electronic control module
200 third input terminal is connect with the output terminal of the load-carrying harvester 107；
The electronic control module 200, including：
Load value sequence construct module 201 for the load-carrying parameter of continuous acquisition Overhead travelling crane system, builds load-carrying value sequence
Fi；
Load-carrying extreme value acquisition module 202, for according to the load-carrying value sequence Fi, obtain the very big mean value F of load-carryingmaxAnd load
The minimum mean value F of weightmin；The very big mean value F of load-carryingmaxFor the load-carrying value sequence FiIn several higher values mean value, it is described
The minimum mean value F of load-carryingminFor the load-carrying value sequence FiIn several smaller values mean value；
Angle of oscillation solves module 203, for solving the angle of oscillation θ for rocking behavior of the feed bin 106；The satisfaction：
It waves horizontal displacement and solves module 204, for whether judging the angle of oscillation θ beyond threshold value, if the angle of oscillation θ
Beyond threshold value, then according to the angle of oscillation θ, solve to disappear and wave horizontal displacement L, the L=rsin θ needed for rolling；The r is shakes
Put radius；If the angle of oscillation θ carries out material and launches operation without departing from threshold value；；
Disappear and shake drive module 205, for waving horizontal displacement L according to, the overhead traveling crane is controlled to move.Pass through overhead traveling crane
Traveling drive module 301 controls overhead traveling crane movement.
Optionally, the threshold value is preset value or empirical value.
If Fig. 2 is that overhead traveling crane feed bin 106 waves model, in 106 rocking process of feed bin, angle of oscillation is defined as single shake
Maximum angle of rocking is angle of oscillation θ in the pendulum period.According to the conservation of energy：
Wherein, m is 106 equivalent mass of feed bin, and g is acceleration of gravity, and h is the difference in height for rocking the highest point and the lowest point；v
When being located at minimum point for 106 center of feed bin, the horizontal velocity of feed bin 106.
According to geometrical relationship：
H=(1-cos θ) r (2)；
Wherein, r is waves half 111 diameters 111.
In addition, being located at the stressing conditions of highs and lows according to bead, pulling force meets respectively：
Fmin=cos θ mg (4)；
Simultaneous equation (1)-(5) can obtain：
In the present embodiment, the stability weighed is assessed by angle of oscillation；Due to angle of oscillation its physical property energy in itself
Enough reflection physical meanings well, can accurate Characterization rock degree；And it is further solved and disappeared needed for rolling according to angle of oscillation
Wave horizontal displacement L so that overhead traveling crane can accurate movement and controlling disappear rolling.In the present embodiment, it is only necessary to obtain load-carrying data
Maximum value and minimum value, you can further solve angle of oscillation；The load-carrying data can be that feed bin 106 be weighed maximum value and minimum
The load-carrying maximum value of some part individual and minimum Value Data or feed bin 106 in Value Data or feed bin 106
The maximum value and minimum value of pulling force.The present embodiment, it is convenient to solve, and calculates accurate.
It is noted that due to angle of oscillation θ and Fmax、FminBetween concrete numerical value size it is unrelated, only need Fmax、FminBetween
One timing of ratio, it is also consistent to solve acquisition angle of oscillation θ.So it optionally, is carried by acquiring the numerical value of weighing of feed bin 106
Weight values sequence Fi；Optionally, by acquiring overhead traveling crane steel wire pulling force, load-carrying value sequence F is obtainedi；Optionally, to a certain in feed bin 106
Object is weighed, and with the value of weighing of the object, structure load-carrying value sequence Fi；
In the present embodiment, the load-carrying harvester 107 is pulling force sensor；Pulling force sensor setting with it is described
Between feed bin 106 and the hoist engine 103.
Optionally, the pulling force sensor is set between the lifting rope 104 and the suspension hook 105；
Optionally, the pulling force sensor is set between the suspension hook 105 and the feed bin 106；
Optionally, the pulling force sensor is set between the hoist engine 103 and the lifting rope 104；
Optionally, the pulling force sensor is set on the lifting rope 104.
In the present embodiment, the load-carrying harvester 107 is weighing sensor；The weighing sensor is used to measure institute
State the load value of object in feed bin 106 or feed bin 106.
Object includes but not limited to material in feed bin 106, tester in feed bin 106 in the feed bin 106.Optionally, institute
It states tester in the feed bin 106 and weighs part for standard.It is noted that in the present invention, due to angle of oscillation and load-carrying pole
Big mean value is related with the ratio of the minimum mean value of load-carrying, so the object of load weighing is not limited, in fact, weighing material bin 106
The whole very big mean value of load-carrying and the ratio of the minimum mean value of load-carrying and the very big mean value of load-carrying of weighing component home and load-carrying are minimum
The ratio of mean value is equal.So in this embodiment, weighing sensor can select thing of weighing according to actual demand.
Optionally, it chooses the smaller thing of weighing of weight to measure, using the weighing sensor of small amount journey, reduce into
This.Optionally, it chooses the larger thing of weighing of weight to measure, raising, which disappears, shakes precision.
In the present embodiment, the load-carrying parameter of the feed bin 106 includes：106 weighing data of overhead traveling crane feed bin or overhead traveling crane pulling force
Data.
Optionally, the load-carrying extreme value acquisition module 202, is additionally operable to：
From the load-carrying value sequence FiA maximum value is selected, as the very big mean value F of the load-carryingmax；
From the load-carrying value sequence FiA minimum value is selected, as the minimum mean value F of the load-carryingmin。
Optionally, the load-carrying extreme value acquisition module 202, is additionally operable to：
To the load-carrying value sequence FiIt is ranked up by size, obtains the first load-carrying sequence { Fn}；1≤n of the n satisfactions≤
I, the I are the load-carrying value sequence FiSequence length；
From the first load-carrying sequence { FnIn choose before k angle of oscillation higher value { Fk}；The k meets 1≤k ＜ I；It obtains
Take the very big mean value F of the load-carryingmax, the Fmax=avg { Fk}；
From the first load-carrying sequence { FnIn choose after m angle of oscillation smaller value { Fm}；The m meets 1 ＜ m≤I；It obtains
Take the minimum mean value F of the load-carryingmin, the Fmin=avg { Fm}。
In the present embodiment, which is characterized in that the angle of oscillation solves module 203, is additionally operable to：
Obtain the minimum mean value F of the load-carryingminWith the very big mean value F of the load-carryingmaxRatio cc；α=the Fmin/Fmax；
Obtain the angle of oscillation θ of the overhead traveling crane；The satisfaction：
In the present embodiment, described disappear shakes drive module 205, is additionally operable to acquire instant angle of oscillation θ in real timei, it is described
When angle of oscillation θiIn increase tendency and the θiDuring >=α θ, horizontal displacement L is waved according to described, the overhead traveling crane is controlled to move；Institute
State 0 ＜ α≤1.
Optional α=0.9；It is noted that α values are bigger, the speed that overhead traveling crane need to move is also bigger, at this point, the rolling that disappears
Operation is also more effective.It is assumed that the waved radius of overhead traveling crane Pendulum Model is 4m, overhead traveling crane rocks angle at 5 °, unilateral horizontal pan displacement
It is apparent to rock sense sense by about 0.35m.It is apparent to rock sense, and shift value is for overhead traveling crane movement velocity, horizontal pan displacement
And less, overhead traveling crane movement velocity can be met the requirements.It is assumed that angle of oscillation θ=5 °, when instant angle of oscillation reaches 4.5 °, carry out overhead traveling crane
It is mobile to realize the rolling that disappears.
By the technical solution, mobile overhead crane effectively realizes the rolling that disappears.
In the present embodiment, the step S6 is further included：Judge instant angle of oscillation θiWhether increase tendency is in；It is described to sentence
Break instant angle of oscillation θiIt is by the instant angle of oscillation θ of at least two before and after judgement whether to be in increase tendencyiMagnitude relationship；If
Collected instant angle of oscillation is larger afterwards, then judges instant angle of oscillation θiIn increase tendency.
By the technical solution, by judging instant angle of oscillation θiWhether in increase tendency, and carry out trolley movement
Realization disappears rolling, and raising, which disappears, shakes accuracy.
In the present embodiment, the load-carrying value sequence FiIncluding at least a swing period, convenient for the number of angle of oscillation acquisition
According to accurate.
The preferred embodiment of the present invention described in detail above.It should be appreciated that those of ordinary skill in the art without
Creative work is needed according to the present invention can to conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of force-measuring type intelligence Overhead travelling crane system, which is characterized in that the system comprises：
The transport overhead traveling crane being mounted on overhead crane orbit, the transport overhead traveling crane are used for transported material；The transport overhead traveling crane includes overhead traveling crane
Ontology, hoist engine, lifting rope and suspension hook；The hoist engine is installed on the overhead traveling crane ontology, and the suspension hook passes through the lifting rope
It is connect with the hoist engine；The suspension hook, which is additionally operable to hook, hangs feed bin；The transport overhead traveling crane is additionally provided with overhead traveling crane traveling drive module,
For the transport overhead traveling crane to be controlled to advance on the overhead crane orbit；
Load-carrying harvester, for acquiring the load-carrying parameter of the feed bin；
Material launches drive module, for the feed bin to be controlled to launch material；
And electronic control module；
First output terminal of the electronic control module is connect with the overhead traveling crane traveling drive module；The electronic control module
The input terminal that second output terminal launches drive module with the material is connect；The third input terminal of the electronic control module and institute
State the output terminal connection of load-carrying harvester；
The electronic control module, including：
Load value sequence construct module, for the load-carrying parameter of continuous acquisition Overhead travelling crane system, structure load-carrying value sequence Fi；
Load-carrying extreme value acquisition module, for according to the load-carrying value sequence Fi, obtain the very big mean value F of load-carryingmaxIt is minimum with load-carrying
Value Fmin；The very big mean value F of load-carryingmaxFor the load-carrying value sequence FiIn several higher values mean value, the load-carrying is minimum
Mean value FminFor the load-carrying value sequence FiIn several smaller values mean value；
Angle of oscillation solves module, for solving the angle of oscillation θ for rocking behavior of the feed bin；The angle of oscillation θ meets：
It waves horizontal displacement and solves module, for whether judging the angle of oscillation θ beyond threshold value, if the angle of oscillation θ exceeds threshold
Value then according to the angle of oscillation θ, solves to disappear and waves horizontal displacement L, the L=rsin θ needed for rolling；The r is waves half
Diameter；If the angle of oscillation θ carries out material and launches operation without departing from threshold value；
Disappear and shake drive module, for waving horizontal displacement L according to, the overhead traveling crane is controlled to move.
2. a kind of force-measuring type intelligence Overhead travelling crane system as described in claim 1, which is characterized in that the load-carrying harvester is draws
Force snesor；Between the pulling force sensor setting and the feed bin and the hoist engine.
3. a kind of force-measuring type intelligence Overhead travelling crane system as described in claim 1, which is characterized in that the load-carrying harvester is claims
Retransmit sensor；The weighing sensor is used to measure the load value of object in the feed bin or feed bin.
A kind of 4. force-measuring type intelligence Overhead travelling crane system as described in claim 1, which is characterized in that the load-carrying parameter packet of the feed bin
It includes：Overhead traveling crane feed bin weighing data or overhead traveling crane pulling force data.
5. a kind of force-measuring type intelligence Overhead travelling crane system as described in claim 1, which is characterized in that the load-carrying extreme value obtains mould
Block is additionally operable to：
From the load-carrying value sequence FiA maximum value is selected, as the very big mean value F of the load-carryingmax；
From the load-carrying value sequence FiA minimum value is selected, as the minimum mean value F of the load-carryingmin。
6. a kind of force-measuring type intelligence Overhead travelling crane system as described in claim 1, which is characterized in that the load-carrying extreme value obtains mould
Block is additionally operable to：
To the load-carrying value sequence FiIt is ranked up by size, obtains the first load-carrying sequence { Fn}；The n meets 1≤n≤I, institute
I is stated as the load-carrying value sequence FiSequence length；
From the first load-carrying sequence { FnIn choose before k angle of oscillation higher value { Fk}；The k meets 1≤k ＜ I；Obtain institute
State the very big mean value F of load-carryingmax, the Fmax=avg { Fk}；
From the first load-carrying sequence { FnIn choose after m angle of oscillation smaller value { Fm}；The m meets 1 ＜ m≤I；Obtain institute
State the minimum mean value F of load-carryingmin, the Fmin=avg { Fm}。
7. a kind of force-measuring type intelligence Overhead travelling crane system as described in any one in claim 1-6, which is characterized in that described to wave
Angle solves module, is additionally operable to：
Obtain the minimum mean value F of the load-carryingminWith the very big mean value F of the load-carryingmaxRatio cc；α=the Fmin/Fmax；
Obtain the angle of oscillation θ of the overhead traveling crane；The angle of oscillation θ meets：
A kind of 8. force-measuring type intelligence Overhead travelling crane system as described in any one in claim 1-6, which is characterized in that the rolling that disappears
Drive module is additionally operable to acquire instant angle of oscillation θ in real timei, in the instant angle of oscillation θiIn increase tendency and the θi≥αθ
When, horizontal displacement L is waved according to described, the overhead traveling crane is controlled to move；The α meets：0 ＜ α≤1.
9. a kind of force-measuring type intelligence Overhead travelling crane system as claimed in claim 8, which is characterized in that described disappear shakes drive module, also
For judging instant angle of oscillation θiWhether increase tendency is in；It is described to judge instant angle of oscillation θiIt is logical whether to be in increase tendency
Cross the instant angle of oscillation θ of at least two before and after judgingiMagnitude relationship；If larger in rear collected instant angle of oscillation, judgement is
When angle of oscillation θiIn increase tendency.
A kind of 10. force-measuring type intelligence Overhead travelling crane system as described in any one in claim 1-6, which is characterized in that the load
Weight values sequence FiIncluding at least a swing period.
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|---|---|---|---|---|
| DE1274293B (en) * | 1964-10-26 | 1968-08-01 | Licentia Gmbh | Arrangement for the automatic suppression of the oscillations of a horizontally moving load hanging on a rope |
| DE3513007A1 (en) * | 1984-04-11 | 1985-12-19 | Hitachi, Ltd., Tokio/Tokyo | Method and arrangement for the automatic control of a crane |
| JPH08290892A (en) * | 1995-04-24 | 1996-11-05 | Mitsubishi Heavy Ind Ltd | Steady brace device of suspended cargo |
| JP3358768B2 (en) * | 1995-04-26 | 2002-12-24 | 株式会社安川電機 | Method and apparatus for controlling rope steady rest of crane etc. |
| US6588610B2 (en) * | 2001-03-05 | 2003-07-08 | National University Of Singapore | Anti-sway control of a crane under operator's command |
| CN103274298B (en) * | 2013-06-20 | 2015-06-17 | 中联重科股份有限公司 | Method, device and system for controlling driving force of tower crane trolley |
| CN103991801B (en) * | 2014-05-12 | 2016-02-17 | 中联重科股份有限公司 | Tower crane and anti-swing control method, device and system for lifting hook of tower crane |
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2017
- 2017-07-10 CN CN201710554869.4A patent/CN107298378B/en active Active
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| CN107298378A (en) | 2017-10-27 |
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