CN-116730205-B - Lifting mechanism lifting and descending control method and control system

CN116730205BCN 116730205 BCN116730205 BCN 116730205BCN-116730205-B

Abstract

The invention discloses a lifting and descending control method and a control system of a gantry crane lifting mechanism, wherein the descending control method is provided with a descending dynamic height value, a descending deceleration detection position and a descending stop detection position, the ascending control method is provided with an ascending dynamic height value, an ascending deceleration detection position and an ascending stop detection position. The ascending and descending control method and the control system can improve the loading and unloading efficiency and have good safety.

Inventors

LI SHAOQIAN
GONG GUOXING
LI YONG
LIN ZHIQIANG
WU HAISHENG
LAI JIANXING
LI BIN
GU YUANZUO
QUE YAQING
CAI GUOQIANG
ZHANG ZHIGANG
MOU YANG
XU BOSHENG
FANG YINBAO

Assignees

蛇口集装箱码头有限公司
赤湾集装箱码头有限公司
深圳赤湾港集装箱有限公司
深圳妈港仓码有限公司

Dates

Publication Date: 20260508
Application Date: 20230512

Claims (8)

1. The descending control method of the gantry crane lifting mechanism is characterized by comprising the following steps of: Acquiring first initial height information of a lifting appliance of a lifting mechanism, comparing the first initial height information with a descending dynamic height value, and if the first initial height information is larger than the descending dynamic height value, controlling the lifting appliance to move downwards in an accelerating way; In the lifting appliance descending process, acquiring real-time height information of the lifting appliance in real time, comparing the real-time height information with the descending dynamic height value, and controlling the lifting appliance to decelerate when the real-time height information is equal to or smaller than the descending dynamic height value; In the continuous descending process of the lifting appliance, when the lifting appliance is known to pass through a descending deceleration detection position, descending speed information of the lifting appliance at the moment is acquired, the descending speed information is compared with a first preset speed value, if the descending speed information is larger than the first preset speed value, the lifting appliance is controlled to stop descending, and if the descending speed information is equal to or smaller than the first preset speed value, the lifting appliance is controlled to continue descending; when the lifting appliance is known to pass through the descending stop detection position in the continuous descending process of the lifting appliance, controlling the lifting appliance to stop descending; The descending dynamic height value is larger than the height of the descending deceleration detection position, and the height of the descending deceleration detection position is larger than the height of the descending stop detection position; The descending dynamic height value is P1, P1= PjD +Sd-Smax, pjD is a descending reference value, sd is a deceleration distance required for the hanger to decelerate to stop at the current speed, and Smax is a maximum deceleration distance of the hanger.
2. The descent control method according to claim 1, wherein, The maximum deceleration distance of the lifting appliance is calculated by the following formula of Smax= (1/2 Vmax) Tmax; The deceleration distance required by the sling to decelerate to stop at the current speed is calculated by the following formula of Sd=Vd×Vd×Tmax/(2 Vmax); vmax is the maximum speed of the lifting mechanism, tmax is the longest deceleration time of the lifting mechanism, and Vd is the current speed of the lifting appliance.
3. A descent control system for a gantry crane hoisting mechanism, comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, implements the descent control method of any one of claims 1-2.
4. A descent control system according to claim 3, further comprising a height detection unit, a speed detection unit, a first position sensor, and a second position sensor, each of the height detection unit, the speed detection unit, the first position sensor, and the second position sensor being coupled to the processor.
5. The lifting control method of the gantry crane lifting mechanism is characterized by comprising the following steps of: Acquiring second initial height information of a lifting appliance of a lifting mechanism, comparing the second initial height information with an ascending dynamic height value, and controlling the lifting appliance to move upwards in an accelerating way if the second initial height information is smaller than the ascending dynamic height value; In the lifting process of the lifting appliance, acquiring real-time height information of the lifting appliance in real time, comparing the real-time height information with the lifting dynamic height value, and controlling the lifting appliance to decelerate when the real-time height information is equal to or greater than the lifting dynamic height value; in the continuous lifting process of the lifting appliance, when the lifting appliance is known to pass through a lifting speed reduction detection position, lifting speed information of the lifting appliance at the moment is obtained, the lifting speed information is compared with a second preset speed value, if the lifting speed information is larger than the second preset speed value, the lifting appliance is controlled to stop lifting, and if the lifting speed information is equal to or smaller than the second preset speed value, the lifting appliance is enabled to continue lifting; In the continuous lifting process of the lifting appliance, when the lifting appliance is known to pass through the lifting stop detection position, controlling the lifting appliance to stop lifting; the rising dynamic height value is smaller than the height of the rising deceleration detection position, and the height of the rising deceleration detection position is smaller than the height of the rising stop detection position; The ascending dynamic height value is P2, P2= PjU +Smax-Sd, pjU is an ascending reference value, sd is a deceleration distance required for the hanger to decelerate to stop at the current speed, and Smax is a maximum deceleration distance of the hanger.
6. The ascent control method according to claim 5, characterized in that, The maximum deceleration distance of the lifting appliance is calculated by the following formula of Smax= (1/2 Vmax) Tmax; The deceleration distance required by the sling to decelerate to stop at the current speed is calculated by the following formula of Sd=Vd×Vd×Tmax/(2 Vmax); vmax is the maximum speed of the lifting mechanism, tmax is the longest deceleration time of the lifting mechanism, and Vd is the current speed of the lifting appliance.
7. A lifting control system for a gantry crane lifting mechanism, comprising a memory and a processor, wherein the memory stores a computer program which, when executed by the processor, implements the lifting control method of any one of claims 5-6.
8. The ascent control system of claim 7, further comprising a height detection unit, a speed detection unit, a third position sensor, and a fourth position sensor, wherein the height detection unit, the speed detection unit, the third position sensor, and the fourth position sensor are each coupled to the processor.

Description

Lifting mechanism lifting and descending control method and control system Technical Field The invention relates to the field of portal cranes, in particular to a lifting mechanism lifting and descending control method and a lifting and descending control system. Background In the handling work of ports and piers, gantry cranes are widely used devices, which are mainly used for lifting containers, such as lifting containers from a yard to a truck (container truck) or lifting containers from a truck to a yard. The container is usually mounted on a lifting appliance of a gantry crane lifting mechanism, the container is driven to move through the movement of the lifting appliance, the lifting appliance and the container are lifted and lowered, and the lifting speed and the lowering speed of the lifting appliance are relatively slow for safety consideration because the lifting appliance and the container are relatively heavy, so that the efficiency of the whole loading and unloading operation is relatively low. Disclosure of Invention The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a descending control method of the gantry crane lifting mechanism, which can shorten the descending time of a lifting appliance, improve the overall loading and unloading efficiency and has good safety. The invention relates to a descending control method of a gantry crane lifting mechanism, which comprises the following steps: Acquiring first initial height information of a lifting appliance of a lifting mechanism, comparing the first initial height information with a descending dynamic height value, and if the first initial height information is larger than the descending dynamic height value, controlling the lifting appliance to move downwards in an accelerating way; In the lifting appliance descending process, acquiring real-time height information of the lifting appliance in real time, comparing the real-time height information with the descending dynamic height value, and controlling the lifting appliance to decelerate when the real-time height information is equal to or smaller than the descending dynamic height value; In the continuous descending process of the lifting appliance, when the lifting appliance is known to pass through a descending deceleration detection position, descending speed information of the lifting appliance at the moment is acquired, the descending speed information is compared with a first preset speed value, if the descending speed information is larger than the first preset speed value, the lifting appliance is controlled to stop descending, and if the descending speed information is equal to or smaller than the first preset speed value, the lifting appliance is controlled to continue descending; when the lifting appliance is known to pass through the descending stop detection position in the continuous descending process of the lifting appliance, controlling the lifting appliance to stop descending; the descending dynamic height value is larger than the height of the descending deceleration detection position, and the height of the descending deceleration detection position is larger than the height of the descending stop detection position. Further, the falling dynamic height value is P1, P1= PjD +Sd-Smax, PjD is a descending reference value, sd is the deceleration distance required by the sling to decelerate to stop at the current speed, and Smax is the maximum deceleration distance of the sling. Further, the method comprises the steps of, The maximum deceleration distance of the lifting appliance is calculated by the following formula of Smax= (1/2 Vmax) Tmax; the deceleration distance required by the sling to decelerate to stop at the current speed is calculated by the following formula of sd=vd×vd×tmax/(2 Vmax); Vmax is the maximum speed of the lifting mechanism, tmax is the longest deceleration time of the lifting mechanism, and Vd is the current speed of the lifting appliance. The invention also provides a descending control system of the gantry crane lifting mechanism, which comprises a memory and a processor, wherein a computer program is stored in the memory, and the descending control method is realized when the computer program is executed by the processor. Further, the device also comprises a height detection unit, a speed detection unit, a first position sensor and a second position sensor, wherein the height detection unit, the speed detection unit, the first position sensor and the second position sensor are all connected with the processor. According to the lowering control method and the lowering control system for the gantry crane lifting mechanism, the lowering dynamic height value is set, the lifting appliance can descend at a higher speed above the lowering dynamic height value, the lowering time is shortened, the lifting appliance is decelerated after reaching the position of the lowering dy