阅读说明：本技术 一种桥式起重机自动控制装置 (Automatic control device of bridge crane ) 是由 张峰 张永伟 杜峰 郇煜 郭辉 臧庆凯 于 2021-07-26 设计创作，主要内容包括：本发明公开了一种桥式起重机自动控制装置,包括监控系统、控制系统和伺服驱动系统；监控系统包括安装在各驱动电机上的编码器、设置在起重机上位置传感器和摄像头以及设置在桥架上的位置传感器；控制系统包括PLC、主令控制器和人机交互控制软件,编码器、位置传感器、摄像头、主令控制器和人机交互控制软件均与PLC电性连接；伺服驱动系统包括大车电动机、小车电动机、吊钩电动机及各电动机的驱动器；通过以PLC为核心的控制装置的设置,代替了传统人工操作桥式起重机的方式,能实现桥式起重机的智能监控及自动化控制,减少了作业人员在重大危险源区域的作业及滞留时间,降低了作业人员登高作业过程中的安全风险,保证了作业人员的人身安全。(The invention discloses an automatic control device of a bridge crane, which comprises a monitoring system, a control system and a servo driving system, wherein the monitoring system is used for monitoring the position of a bridge crane; the monitoring system comprises encoders arranged on the driving motors, a position sensor and a camera arranged on the crane and a position sensor arranged on the bridge; the control system comprises a PLC, a master controller and human-computer interaction control software, and the encoder, the position sensor, the camera, the master controller and the human-computer interaction control software are electrically connected with the PLC; the servo driving system comprises a cart motor, a trolley motor, a hook motor and drivers of the motors; through the setting of the control device with PLC as the core, the mode of traditional manual operation bridge crane is replaced, intelligent monitoring and automatic control of the bridge crane can be realized, the operation and the detention time of operating personnel in major danger source areas are reduced, the safety risk of the operating personnel in the working process of ascending a height is reduced, and the personal safety of the operating personnel is ensured.)

1. The automatic control device of the bridge crane is characterized in that: the system comprises a monitoring system, a control system and a servo driving system;

the monitoring system comprises encoders arranged on the driving motors, a position sensor and a camera arranged on the crane and a position sensor arranged on the bridge;

the control system comprises a PLC, a master controller and human-computer interaction control software, wherein the master controller is used for sending an operation stop signal, and the encoder, the position sensor, the camera, the master controller and the human-computer interaction control software are electrically connected with the PLC;

the servo driving system comprises a cart motor, a trolley motor, a hook motor and drivers of the motors, and the drivers are electrically connected with the PLC.

2. The automatic control device for bridge crane according to claim 1, wherein: the master controller is installed in a cab of the crane and is connected with the PLC in a wireless mode; the PLC is connected with a wireless receiving device for receiving the master controller signal sent by the wireless transmitting device.

3. The automatic control device for bridge crane according to claim 1, wherein: the encoder comprises a cart motor encoder, a trolley motor encoder and a lifting hook motor encoder, and each encoder is an absolute encoder.

4. The automatic control device for bridge crane according to claim 1, wherein: the PLC is S7-200 series PLC of SIEMENS company.

5. A control method of an automatic control device of a bridge crane is characterized by comprising the following steps:

(1) initializing a system;

(2) receiving the coordinates of the target position of the upper computer and determining the target position;

(3) the control system is utilized to realize the automatic movement of the cart (4) and the trolley (6) in place, so that the crane moves right above the operation target position;

(4) judging whether the crane moves in place or not according to the detection information of each position sensor and the camera; if not, returning to execute the step (3); when the target position is in place, continuously judging whether the system needs to determine the target position again, if so, returning to the step (2), and if not, continuously executing the next step;

(5) the system judges whether the task is loading operation or unloading operation; if the operation is loading operation, the lifting hook (8) descends to load and then ascends to a specified position; if the operation is unloading operation, the lifting hook (8) descends and unloads, and then ascends to a specified position;

(6) and (4) judging whether the task is finished or not by the system, if so, quitting the automatic control operation, and if not, returning to the step (2) to continue the automatic control task.

Technical Field

The invention relates to the technical field of hairdressing and beauty equipment, in particular to an automatic control device of a bridge crane.

Background

The bridge crane is a hoisting device which is transversely arranged above workshops, warehouses and stockyards to hoist materials. Since its two ends are seated on a tall concrete column or a metal bracket, it is shaped like a bridge. The bridge frame of the bridge crane runs longitudinally along the rails laid on the elevated frames at two sides, so that the space below the bridge frame can be fully utilized to hoist materials without being hindered by ground equipment. The lifting machine has the widest application range and the largest quantity. The control mode of the bridge crane mainly adopts manual on-site operation, namely, an operator enters a cab of the bridge crane to operate. The manual in-situ operation mainly has the following problems: 1. the bridge crane is positioned on the upper layer of a building, and needs to enter a cab through a narrow elevator arranged on one side of the bridge crane, and the cab is positioned in a high space which is 10 meters away from the ground, so that operators can easily fall off, and casualties are caused; especially at night, due to changes of field light and environment, the risk of falling from a high place is further increased, and great threat is caused to the personal safety of operators. 2. Under the operating efficiency low, some workshop bridge cranes are less than three and four, more than seven and eight, after the current bridge crane is operated and finished by an operator, the operator needs to walk to the parking area of the bridge crane in the next area to carry out corresponding hoisting operation. In this period, the working efficiency of the operator is affected, and the labor intensity of the operator is greatly increased due to the long distance between the two devices. 3. The operation condition is poor, the high temperature of some special workshop workplaces is inevitable, and the temperature on the bridge crane can reach 50 ℃ in summer, thus seriously affecting the personal safety of operators. In addition, the dust content on site is large, the environment is complex, and operating personnel can easily suffer occupational diseases when working in the harsh environment for a long time. Secondly, the employee's happiness index is low, and the enterprise's sense of ownership is not strong.

Disclosure of Invention

The invention aims to provide an automatic control device of a bridge crane, which aims to solve the problems in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme: an automatic control device of a bridge crane comprises a monitoring system, a control system and a servo driving system;

the monitoring system comprises encoders arranged on the driving motors, a position sensor and a camera arranged on the crane and a position sensor arranged on the bridge;

the control system comprises a PLC, a master controller and human-computer interaction control software, wherein the master controller is used for sending an operation stop signal, and the encoder, the position sensor, the camera, the master controller and the human-computer interaction control software are electrically connected with the PLC;

the servo driving system comprises a cart motor, a trolley motor, a hook motor and drivers of the motors, and the drivers are electrically connected with the PLC.

Preferably, the master controller is installed in a cab of the crane, and the master controller is connected with the PLC in a wireless mode; the PLC is connected with a wireless receiving device for receiving the master controller signal sent by the wireless transmitting device.

Preferably, the encoders include a cart motor encoder, a dolly motor encoder, and a hook motor encoder, and each of the encoders is an absolute encoder.

Preferably, the PLC is a series S7-200 PLC of SIEMENS.

A control method of an automatic control device of a bridge crane comprises the following steps:

(1) initializing a system;

(2) receiving the coordinates of the target position of the upper computer and determining the target position;

(3) the control system is utilized to realize the automatic movement of the cart 4 and the trolley 6 in place, so that the crane moves right above the operation target position;

(4) judging whether the crane moves in place or not according to the detection information of each position sensor and the camera; if not, returning to execute the step (3); when the target position is in place, continuously judging whether the system needs to determine the target position again, if so, returning to the step (2), and if not, continuously executing the next step;

(5) the system judges whether the task is loading operation or unloading operation; if the operation is loading operation, the lifting hook 8 descends and loads and then ascends to a specified position; if the operation is unloading operation, the lifting hook 8 descends and unloads, and then ascends to a specified position;

(6) and (4) judging whether the task is finished or not by the system, if so, quitting the automatic control operation, and if not, returning to the step (2) to continue the automatic control task.

Has the advantages that: compared with the prior art, the invention has the beneficial effects that: through the setting of the control device with the PLC as the core, the traditional mode of manually operating the bridge crane is replaced, the intelligent monitoring and automatic control of the bridge crane can be realized, the automatic control rate of the safety production device in the major danger source area is improved, the operation and the detention time of the operating personnel in the major danger source area are reduced, the safety risk of the operating personnel in the ascending operation process is reduced, and the personal safety of the operating personnel is ensured.

Drawings

Fig. 1 is a schematic overall structure diagram of an automatic control device of a bridge crane according to the present invention.

Fig. 2 is a control flow chart of an automatic control device of a bridge crane provided by the invention.

In the drawings: 1-bridge frame, 2-steel rail, 3-position sensor, 4-cart, 5-cart motor, 6-cart, 7-cart motor, 8-hook, 9-hook motor, 10-camera and 11-cab.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments of the present disclosure.

Examples

Referring to the attached drawings in the specification, in the embodiment of the invention, an automatic control device of a bridge crane comprises a monitoring system, a control system and a servo driving system;

the monitoring system comprises encoders arranged on the driving motors, a position sensor and a camera arranged on the crane and a position sensor arranged on the bridge;

the control system comprises a PLC, a master controller and human-computer interaction control software, wherein the master controller is used for sending an operation stop signal, and the encoder, the position sensor, the camera, the master controller and the human-computer interaction control software are electrically connected with the PLC;

the servo driving system comprises a cart motor, a trolley motor, a hook motor and drivers of the motors, and the drivers are electrically connected with the PLC.

Furthermore, the master controller is installed in a cab of the crane and is connected with the PLC in a wireless manner; the PLC is connected with a wireless receiving device for receiving the master controller signal sent by the wireless transmitting device.

Furthermore, the encoder comprises a cart motor encoder, a trolley motor encoder and a hook motor encoder, and each encoder is an absolute encoder.

Further, the PLC is S7-200 series PLC of SIEMENS company.

A control method of an automatic control device of a bridge crane comprises the following steps:

(1) initializing a system;

(2) receiving the coordinates of the target position of the upper computer and determining the target position;

(3) the control system is utilized to realize the automatic movement of the cart (4) and the trolley (6) in place, so that the crane moves right above the operation target position;

(4) judging whether the crane moves in place or not according to the detection information of each position sensor and the camera; if not, returning to execute the step (3); when the target position is in place, continuously judging whether the system needs to determine the target position again, if so, returning to the step (2), and if not, continuously executing the next step;

(5) the system judges whether the task is loading operation or unloading operation; if the operation is loading operation, the lifting hook (8) descends to load and then ascends to a specified position; if the operation is unloading operation, the lifting hook (8) descends and unloads, and then ascends to a specified position;

(6) and (4) judging whether the task is finished or not by the system, if so, quitting the automatic control operation, and if not, returning to the step (2) to continue the automatic control task.

According to the invention, through the arrangement of the control device taking the PLC as the core, the traditional mode of manually operating the bridge crane is replaced, the intelligent monitoring and automatic control of the bridge crane can be realized, the automatic control rate of the safety production device in the major hazard area is improved, the operation and detention time of the operating personnel in the major hazard area is reduced, the safety risk of the operating personnel in the ascending operation process is reduced, and the personal safety of the operating personnel is ensured; the application has the advantages of simple structure, strong practicability and simple operation and is worth popularizing.

The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make several variations and modifications without departing from the concept of the present invention, and these should be considered as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the utility of the patent.