CN106698194A - Positioning system based on Flag positioning plates for large automatic heavy-box rail-mounted gantry crane - Google Patents
Positioning system based on Flag positioning plates for large automatic heavy-box rail-mounted gantry crane Download PDFInfo
- Publication number
- CN106698194A CN106698194A CN201611147513.0A CN201611147513A CN106698194A CN 106698194 A CN106698194 A CN 106698194A CN 201611147513 A CN201611147513 A CN 201611147513A CN 106698194 A CN106698194 A CN 106698194A
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- China
- Prior art keywords
- plates
- cart
- flag
- track crane
- flag location
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Classifications
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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
- B66C11/00—Trolleys or crabs, e.g. operating above runways
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a positioning system based on Flag positioning plates for a large automatic heavy-box rail-mounted gantry crane. The Flag positioning plates are asymmetrically installed at the inner side of an H-shaped rail and the outer side of a storage yard, and transmitting-receiving sensors are used for detection for the Flag positioning plates; and two large vehicle absolute position encoders are installed at the two sides of the rail-mounted gantry crane respectively, two incremental encoders are installed at the two sides of the rail-mounted gantry crane respectively, a high-speed counting module is used for pulse counting for the incremental encoders, the transmitting-receiving sensors transmit the detected signals to the large vehicle absolute position encoders when the large automatic heavy-box rail-mounted gantry crane passes through the Flag positioning plates, the large vehicle absolute position encoders determine the serial numbers of the Flag positioning plates, pulse signals are sent to the counting module through the incremental encoders, the deviations of the left side and the right side of the large automatic heavy-box rail-mounted gantry crane are determined after high-speed calculation of the counting module, and a large vehicle driver is controlled to adjust the large crane through a central control module, so that the positioning accuracy of the large automatic heavy-box rail-mounted gantry crane is guaranteed.
Description
Technical field
The present invention relates to a kind of automation loaded van track crane cart alignment system based on Flag location-plates.
Background technology
In automation loaded van track crane operation, the precise positional relationship of cart is to the efficiency of automated job and to cart machine
The protection of structure.If cart positioning is inaccurate, it is likely to result in when box operation is carried out and case is forbidden, or cause other
The failure of system, can cause to fall case accident when serious；Simultaneously be expert at cart when, due to left and right sides deviation it is excessive easily to equipment
Mechanical structure cause damage.So a set of accurate cart alignment system is the key of automation projects success.
Use absolute value encoder more conventional automated equipment, coordinate magnetic nail to position cart, in actually used mistake
Appearance positioning is inaccurate in journey, fault rate is high, the compartment time is accomplished by situations such as being adjusted to cart zero-bit.
The content of the invention
The present invention is to provide for a kind of automation loaded van track crane cart alignment system based on Flag plates, and the system is used
Flag location-plates coordinate positioning, have the advantages that convenient to install and maintain, low cost, accurate positioning relative to magnetic nail technology.
The technical scheme is that：A kind of automation loaded van track crane cart alignment system based on Flag location-plates,
" H " type for automating loaded van track crane cart is positioned, and the system includes that Flag location-plates, opposite type sensor, cart are absolute
Position coder, incremental encoder, high speed counting module, some asymmetric inner sides installed in " H " type track of Flag location-plates
On the outside of stockyard, for automating loaded van track crane cart position correction；The opposite type sensor includes emission sensor and connects
Sensor is received, for the detection of Flag location-plates；Two cart absolute position encoders are separately mounted to track crane both sides, for remembering
Record Flag location-plate sequence numbers；Two incremental encoders are separately mounted to track crane both sides, for sending pulse signal to count module
Block；The high speed counting module, for the step-by-step counting of incremental encoder, calculation automation loaded van track crane cart relative to
The relative position of Flag location-plates；When loaded van track crane cart is automated by Flag location-plates, opposite type sensor will be detected
To signal be transmitted to cart absolute position encoder, Flag location-plate sequence numbers are determined by cart absolute position encoder, and lead to
Cross incremental encoder send pulse signal to counting module, by counting module supercomputing after, it is determined that automation loaded van track crane
Cart left and right sides deviation, and control cart driver to adjust automation loaded van track crane cart by central control module
Section, it is ensured that automation loaded van track crane cart positioning precision.
The Flag location-plates are made up of " L-type " stainless steel plate, wherein, the Flag location-plates of land side are arranged on each 40 English
The center of chi container shellfish position, the Flag location-plates of extra large side are arranged on the center of each 20 forty equivalent unit 40 shellfish position, every two pieces
Between Flag location-plates at intervals of 6.5m.
When automate loaded van track crane cart often by one piece of Flag location-plate when, the numerical value of the counting module is " clear
Zero ".
When loaded van track crane cart deviation is automated more than 100mm, the alignment system alarm, when automation loaded van rail
When road hangs cart deviation more than 150mm, the automation loaded van track crane cart is shut down.
When Flag location-plates after installation is complete, position of each block of plate of accurate measurement in the coordinate system of stockyard sets up one
The Map tables of Flag location-plates in individual stockyard, and judge that the Flag that will pass through determines by the value of cart absolute position encoder
The sequence number x of position plate, formula is：Y=kx+b, wherein, y is the value of cart absolute position encoder, between k is two pieces of Flag location-plates
Distance, takes k=6.5, and b is that fixed value is less than 6.5.
The beneficial effects of the invention are as follows：
Cart alignment system based on Flag location-plates used in the present invention has following features：
Cart " H " type positioning, the asymmetric installation of Flag location-plates are used first.The mode of asymmetric installation, land side
Flag location-plates be arranged on the center of each 40 forty equivalent unit 40 shellfish position, the Flag location-plates of extra large side are arranged on each 20 feet
Container shellfish position center, between every two pieces of Flag location-plates at intervals of 6.5m.There are Flag location-plates so each shellfish position,
Many one layer of protections, more increase cart positioning precision.
Next to that in the present invention cart often by after one piece of Flag location-plate, the value of high speed counting module will clearly into initial
Value, " clearing " being just known as.It is most in conventional items to be carried out in the maximum position in stockyard or minimum position " clearly
Zero " operate, if in equipment fault, need to carry out " clearings " operate, equipment be often no full speed (during equipment fault, such as
Fruit cart at full speed, may cause to damage to equipment, and substantially speed limit is defined in 10%-30% or so according to actual setpoint),
So cart needs to go to clearing position to need to take a long time.And design of the invention can be saved the repairing time
While have protective effect to equipment.
Brief description of the drawings
Fig. 1 is the automation loaded van track crane cart alignment system block diagram based on Flag plates of the invention；
Fig. 2 is that Flag location-plates are asymmetric installed in " H " type track schematic diagram.
Specific embodiment
Below according to the drawings and specific embodiments, the invention will be further described.
Such as Fig. 1, shown in 2, a kind of automation loaded van track crane cart alignment system based on Flag location-plates, for automatic
Change " H " type positioning of loaded van track crane cart, the system includes Flag location-plates, opposite type sensor, cart absolute position encoder
Device, incremental encoder, high speed counting module, central control module, cart driver.
In the asymmetric high pressure room siding track 2 and electrical house siding track 3 installed in " H " type track of some Flag location-plates 4
Side, and the outside of stockyard 5, for automating the position correction of loaded van track crane cart 1.When automation loaded van track crane cart 1 leads to
When crossing Flag location-plates 4, the signal that opposite type sensor will be detected is transmitted to cart absolute position encoder, by the absolute position of cart
Put encoder and determine the sequence number of Flag location-plates 4, and pulse signal is sent to counting module by incremental encoder, by counting module
After supercomputing, it is determined that the left and right sides deviation of automation loaded van track crane cart 1, and control cart to drive by central control module
Dynamic device is adjusted to cart, it is ensured that the positioning precision of automation loaded van track crane cart 1.
Flag location-plates 4 use " L-type " stainless steel plate to be made, in high pressure room siding track 2 and electrical house siding track 3
Side, the outside of stockyard 5.Every 6.5 meter ampere fills 1 piece, asymmetric installation, for cart position correction.
Opposite type sensor：One group of each two (emission sensor and each one of sensor of reception), each one group of extra large land side is used for
Flag location-plates are detected.
Cart absolute position encoder：Each one of track crane both sides, for recording Flag location-plate sequence numbers.
Incremental encoder：Each one of track crane both sides, send pulse signal to counting module.
High speed counting module：For the step-by-step counting of incremental encoder, phase of the cart relative to Flag location-plates is calculated
To position.
After installation is complete, position of each block of plate of accurate measurement in the coordinate system of stockyard sets up one to Flag location-plates
The Map tables of Flag location-plates in stockyard, 2 DB blocks are set up in program, and (DB370, DB371 are used to deposit the Map of Flag location-plates
Table).Then the sequence number of Flag location-plates that will pass through is judged by the value of absolute position encoder：
Formula is：Y=kx+b.Y is the value of absolute position encoder, and k is that two pieces of Flag position distance between plates (k=6.5),
B is that fixed value is less than 6.5.For example during y=19, determine x values between 3 and 4, it is next if equipment is dynamic toward great Bei displacements
The individual serial number 4 by Flag location-plates, on the contrary it is 3.
When cart is by Flag location-plates, opposite type sensor is detected, and detects the pulse signal by Flag location-plates
Afterwards, using the position of the Flag location-plates of current sequence number as calculating benchmark position.High speed counting module judges absolute by calculating
The position of position coder positions the deviation of Board position with the Flag for being passed through.General principle is positioned for detection by every piece of Flag
The pulse sum of plate, with reference to the Flag location-plate sequence numbers that absolute position encoder determines, compares Map tables, calculates each pulse
The distance of cart movement.
Central processing module is will send information to, the output torque of cart driver is changed with deviation data, performed big
Car correction is acted, so as to realize being accurately positioned cart.
To reduce the error problem in data accumulation calculating process, in cart often by one piece of Flag location-plate when all can
By the numerical value " clearing " of high speed counting module.It is that equipment is protected, can be alarmed when being arranged on deviation more than 100mm, is more than
Can be shut down during 150mm.
Claims (5)
1. a kind of automation loaded van track crane cart alignment system based on Flag location-plates, big for automating loaded van track crane
" H " type positioning of car, it is characterised in that：The system include Flag location-plates, opposite type sensor, cart absolute position encoder,
Incremental encoder, high speed counting module, some Flag location-plates are asymmetric on the outside of the inner side of " H " type track and stockyard,
For automating loaded van track crane cart position correction；The opposite type sensor includes emission sensor and receives sensor, uses
In the detection of Flag location-plates；Two cart absolute position encoders are separately mounted to track crane both sides, for recording Flag positioning
Plate sequence number；Two incremental encoders are separately mounted to track crane both sides, for sending pulse signal to counting module；The high speed
Counting module, for the step-by-step counting of incremental encoder, calculation automation loaded van track crane cart is relative to Flag location-plates
Relative position；When loaded van track crane cart is automated by Flag location-plates, the signal hair that opposite type sensor will be detected
Penetrate and give cart absolute position encoder, Flag location-plate sequence numbers are determined by cart absolute position encoder, and by incremental encoding
Device send pulse signal to counting module, by counting module supercomputing after, it is determined that automation loaded van track crane cart left and right sides
Deviation, and control cart driver to be adjusted automation loaded van track crane cart by central control module, it is ensured that from
Dynamicization loaded van track crane cart positioning precision.
2. the automation loaded van track crane cart alignment system based on Flag location-plates according to claim 1, its feature
It is：The Flag location-plates are made up of " L-type " stainless steel plate, wherein, the Flag location-plates of land side are arranged on each 40 feet
The center of container shellfish position, the Flag location-plates of extra large side are arranged on the center of each 20 forty equivalent unit 40 shellfish position, every two pieces of Flag
Between location-plate at intervals of 6.5m.
3. the automation loaded van track crane cart alignment system based on Flag location-plates according to claim 1, its feature
It is：When automate loaded van track crane cart often by one piece of Flag location-plate when, the numerical value " clearing " of the counting module.
4. the positioning of the automation loaded van track crane cart based on Flag location-plates according to claim any one of 1-3 is
System, it is characterised in that：When loaded van track crane cart deviation is automated more than 100mm, automation is worked as in the alignment system alarm
When loaded van track crane cart deviation is more than 150mm, the automation loaded van track crane cart is shut down.
5. the positioning of the automation loaded van track crane cart based on Flag location-plates according to claim any one of 1-3 is
System, it is characterised in that：When Flag location-plates after installation is complete, position of each block of plate of accurate measurement in the coordinate system of stockyard,
The Map tables of Flag location-plates in a stockyard are set up, and judges what will be passed through by the value of cart absolute position encoder
The sequence number x of Flag location-plates, formula is：Y=kx+b, wherein, y is the value of cart absolute position encoder, and k is that two pieces of Flag determine
Position distance between plates, takes k=6.5, and b is that fixed value is less than 6.5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611147513.0A CN106698194B (en) | 2016-12-13 | 2016-12-13 | Automation loaded van track crane cart positioning system based on Flag positioning plates |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611147513.0A CN106698194B (en) | 2016-12-13 | 2016-12-13 | Automation loaded van track crane cart positioning system based on Flag positioning plates |
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| CN106698194A true CN106698194A (en) | 2017-05-24 |
| CN106698194B CN106698194B (en) | 2018-09-11 |
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| CN201611147513.0A Active CN106698194B (en) | 2016-12-13 | 2016-12-13 | Automation loaded van track crane cart positioning system based on Flag positioning plates |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114604776A (en) * | 2022-02-24 | 2022-06-10 | 中建科工集团有限公司 | Slipping hoisting method |
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| JP2000044178A (en) * | 1998-07-27 | 2000-02-15 | Kato Works Co Ltd | Automatic detector adjustment |
| CN201321348Y (en) * | 2008-11-27 | 2009-10-07 | 比亚迪股份有限公司 | Crown block positioning device and crown block hauling system |
| CN101670981A (en) * | 2009-10-13 | 2010-03-17 | 上海理工大学 | Long rail crane group simultaneous localization system with semi-closed loop position feedback and location method thereof |
| CN101691187A (en) * | 2009-09-07 | 2010-04-07 | 上海海得控制系统股份有限公司 | Self-correcting system for displacement deviation of rigid and flexible legs of gantry crane |
| CN103979411A (en) * | 2014-05-05 | 2014-08-13 | 江苏格雷特起重机械有限公司 | Deviation rectification control apparatus for long-span gantry crane |
| CN204661150U (en) * | 2014-12-29 | 2015-09-23 | 范沛 | Telecommunication and the position detecting device of overhead and gantry cranes |
| CN206278839U (en) * | 2016-12-13 | 2017-06-27 | 上海国际港务（集团）股份有限公司振东集装箱码头分公司 | Automation loaded van track crane cart alignment system based on Flag location-plates |
-
2016
- 2016-12-13 CN CN201611147513.0A patent/CN106698194B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000044178A (en) * | 1998-07-27 | 2000-02-15 | Kato Works Co Ltd | Automatic detector adjustment |
| CN201321348Y (en) * | 2008-11-27 | 2009-10-07 | 比亚迪股份有限公司 | Crown block positioning device and crown block hauling system |
| CN101691187A (en) * | 2009-09-07 | 2010-04-07 | 上海海得控制系统股份有限公司 | Self-correcting system for displacement deviation of rigid and flexible legs of gantry crane |
| CN101670981A (en) * | 2009-10-13 | 2010-03-17 | 上海理工大学 | Long rail crane group simultaneous localization system with semi-closed loop position feedback and location method thereof |
| CN103979411A (en) * | 2014-05-05 | 2014-08-13 | 江苏格雷特起重机械有限公司 | Deviation rectification control apparatus for long-span gantry crane |
| CN204661150U (en) * | 2014-12-29 | 2015-09-23 | 范沛 | Telecommunication and the position detecting device of overhead and gantry cranes |
| CN206278839U (en) * | 2016-12-13 | 2017-06-27 | 上海国际港务（集团）股份有限公司振东集装箱码头分公司 | Automation loaded van track crane cart alignment system based on Flag location-plates |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114604776A (en) * | 2022-02-24 | 2022-06-10 | 中建科工集团有限公司 | Slipping hoisting method |
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| CN106698194B (en) | 2018-09-11 |
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