CN210915011U - Automatic positioning system of crane walking mechanism - Google Patents
Automatic positioning system of crane walking mechanism Download PDFInfo
- Publication number
- CN210915011U CN210915011U CN201922069153.2U CN201922069153U CN210915011U CN 210915011 U CN210915011 U CN 210915011U CN 201922069153 U CN201922069153 U CN 201922069153U CN 210915011 U CN210915011 U CN 210915011U
- Authority
- CN
- China
- Prior art keywords
- cart
- driving motor
- trolley
- positioning system
- automatic positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control And Safety Of Cranes (AREA)
Abstract
The utility model provides a hoist is walked line mechanism automatic positioning system, including PLC controller, driving motor, code reader, radio frequency identification label and encoder, the encoder is used for acquireing the current position coordinate of walking the line mechanism, the radio frequency identification label sets up track one side of traveling, the absolute coordinate of its place position is saved to the radio frequency identification label, walk the line mechanism edge the track operation of traveling is installed walk the code reader of line mechanism one side and read absolute coordinate information on the radio frequency identification label, the PLC controller revises current position coordinate error and accumulative total error according to absolute coordinate information to the accurate positioning of walking the line mechanism is walked in the realization.
Description
Technical Field
The utility model relates to a hoist technical field especially relates to a hoist is walked capable quick-witted automatic positioning system of mechanism.
Background
In the traditional container loading and unloading process, the crane cart and the trolley travelling mechanism need to be manually operated to a proper position right above a target container so as to grab the target container, the operation is time-consuming, and the operation fatigue of a crane driver is easily caused. The crane cart and the trolley travelling mechanism are operated to a target position, and the lifting appliance can be adjusted to a proper position only by operating for a plurality of times; the crane cab is located below a crane main beam, and a driver overlooks from high to low in the operation process, so that the head and neck fatigue of the driver is easily caused. On the other hand, with the reform of railway freight organization, the specific gravity of container transportation in freight is larger and larger, whether the loading and unloading operation of the container can be efficiently and timely completed is very important, and the operation mode that a driver manually operates a crane cart and a trolley running mechanism to adjust a lifting appliance to reach a proper position cannot meet the requirement of efficient operation of the container.
Disclosure of Invention
In order to solve the technical problem, an automatic positioning system of a crane running mechanism is provided.
The utility model provides a hoist walks capable mechanism automatic positioning system of mechanism, includes PLC controller, driving motor, code reader, radio frequency identification label and encoder, the PLC controller respectively with code reader and driving motor connect, the encoder is installed walk capable mechanism is last, the driving motor drive walk capable mechanism and travel, the encoder with the PLC controller is connected, code reader installs and walks capable mechanism one side, the radio frequency identification label with code reader phase-match, the radio frequency identification label sets up walk capable mechanism's the track one side of traveling, the absolute coordinate of its place position is preserved on the radio frequency identification label.
The utility model discloses still include the converter, the PLC controller with the converter is connected, the converter with driving motor connects.
Preferably, the crane comprises a cart and a trolley, the traveling mechanism comprises a cart traveling mechanism and a trolley traveling mechanism, the driving motors comprise a cart driving motor and a trolley driving motor, the frequency converter comprises a cart frequency converter and a trolley frequency converter, the PLC is respectively connected with the cart frequency converter and the trolley frequency converter, the cart frequency converter is connected with the cart driving motor, the cart driving motor drives the cart traveling mechanism to operate, the trolley frequency converter is connected with the trolley driving motor, and the trolley driving motor drives the trolley traveling mechanism to operate.
Preferably, the code reader comprises a large car code reader and a small car code reader, and the radio frequency identification tags are uniformly arranged along one side of the running track between the current position and the target position.
Preferably, the running track of the cart and the running track of the trolley are respectively provided with a radio frequency identification tag.
The utility model discloses still include display and control button, display and control button respectively with the PLC controller is connected.
Preferably, the display comprises a touch screen.
Preferably, the PLC controller is S7-12001214C.
The utility model discloses still include with the read write line that the PLC controller is connected.
Preferably, the encoder comprises an absolute value encoder.
Compared with the prior art, the beneficial effects of the utility model are that: 1. the encoder is used for acquiring the current position coordinate of the walking mechanism, the radio frequency identification tag is arranged on one side of the running track, the absolute coordinate of the position of the radio frequency identification tag is stored in the radio frequency identification tag, the walking mechanism runs along the running track, a code reader arranged on one side of the walking mechanism reads the absolute coordinate information on the radio frequency identification tag, and the PLC corrects the current position coordinate error and the accumulated error according to the absolute coordinate information, so that the accurate positioning of the walking mechanism is realized; 2. the PLC is connected with the frequency converter, the frequency converter is connected with the driving motor and used for controlling the on-off and the rotating speed of the driving motor, and when the walking mechanism approaches the target position, the frequency converter reduces the rotating speed of the driving motor to enable the walking mechanism to reach the target position at a slow speed.
Drawings
Fig. 1 is a box diagram of the present invention.
In the drawings, the reference numbers: the system comprises a PLC (programmable logic controller), a frequency converter 2, a driving motor 3, a traveling mechanism 4, an encoder 5, a code reader 6 and a radio frequency identification tag 7.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
The utility model provides a hoist walks capable mechanism automatic positioning system, as shown in figure 1, includes PLC controller 1, driving motor 3, code reader 6, radio frequency identification label 7 and encoder 5, PLC controller 1 respectively with code reader 6 and driving motor 3 are connected, encoder 5 is installed walk capable mechanism 4 is last, driving motor 3 drive it traveles to walk capable mechanism 4, encoder 5 with PLC controller 1 connects, radio frequency identification label 7 with code reader 6 phase-match, radio frequency identification label 7 sets up it traveles track one side between current position of walking the mechanism and the target location, the absolute coordinate of its place position is saved to the radio frequency identification label. The encoder is used for acquiring the current position coordinate of the walking mechanism, the radio frequency identification tag is arranged on one side of the running track, the radio frequency identification tag stores the absolute coordinate of the position of the radio frequency identification tag, the walking mechanism runs along the running track, a code reader arranged on one side of the walking mechanism reads the absolute coordinate information on the radio frequency identification tag, the PLC corrects the current position coordinate error and the accumulated error according to the absolute coordinate information, so that the coordinate information of the walking mechanism is accurately positioned, and the PLC controls the walking mechanism to move through the driving motor according to the coordinate information.
The utility model discloses can also include converter 2, PLC controller 1 with converter 2 is connected, the converter with driving motor connects, and converter 2 is used for controlling driving motor 3's switch and rotational speed, and when walking the mechanism and being close the target location, the converter reduces driving motor's rotational speed, makes to walk the mechanism and reachs the target location with slow speed.
The crane comprises a cart and a trolley, wherein the walking mechanism comprises a cart walking mechanism and a trolley walking mechanism, the driving motors comprise a cart driving motor and a trolley driving motor, the frequency converter comprises a cart frequency converter and a trolley frequency converter, the PLC is respectively connected with the cart frequency converter and the trolley frequency converter, the cart frequency converter is connected with the cart driving motor, the cart driving motor drives the cart walking mechanism to run, the trolley frequency converter is connected with the trolley driving motor, and the trolley driving motor drives the trolley walking mechanism to run. The cart running mechanism and the trolley running mechanism are respectively provided with a frequency converter and a driving motor.
The code reader comprises a cart code reader and a trolley code reader, the cart code reader and the trolley code reader are respectively arranged on the cart and the trolley, the three radio frequency identification tags are uniformly arranged along one side of the running track, and a plurality of radio frequency identification tags can be arranged to improve the accuracy of absolute coordinates. In a specific embodiment, the cart running track and the trolley running track are respectively provided with a radio frequency identification tag, when the PLC controller plans the running tracks, the cart running track and the trolley running track are respectively planned, the cart running mechanism firstly runs along the cart running track, and after the cart running mechanism arrives, the trolley runs along the trolley running track.
The utility model discloses still include display and control button, display and control button respectively with the PLC controller is connected, the display is used for showing the coordinate of walking the line mechanism, and control button is used for opening, closes or interferes walking going of line mechanism and is used for the input target position. The display may be a touch screen, which may be used to input a target location.
The utility model discloses still include with the read write line that the PLC controller is connected, the read write line is used for writing in the absolute coordinate of radio frequency identification label. In one implementation, the PLC controller is model S7-12001214C, touch screen model: MT8100IE, encoder model: PVM58N, converter model: CIMR-AB4A0103 or CIMR-AB4A0208, code reader model: TNDC-Q80, RFID label adopts RFID label, model: TW-R20. And the PLC is used for controlling the operation of the frequency converter and the driving motor and planning the running track of the running mechanism.
The encoder can adopt an absolute value encoder, the position information of the absolute value encoder is determined, and the position information is still effective and cannot be lost when the power supply is switched off and then switched on.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a hoist walks capable mechanism automatic positioning system of mechanism, includes PLC controller and driving motor, its characterized in that still includes code reader, radio frequency identification label and encoder, the PLC controller respectively with code reader and driving motor are connected, the encoder is installed walk capable mechanism is last, driving motor drive it traveles to walk capable mechanism, the encoder with the PLC controller is connected, code reader installs and walks capable mechanism one side, the radio frequency identification label with code reader phase-match, the radio frequency identification label sets up it walks capable mechanism's track one side of traveling, the absolute coordinate of its place position has been saved on the radio frequency identification label.
2. The automatic positioning system for the running mechanism of the crane according to claim 1, further comprising a frequency converter, wherein the PLC is connected with the frequency converter, and the frequency converter is connected with the driving motor.
3. The automatic positioning system for the traveling mechanism of a crane according to claim 2, wherein the crane comprises a cart and a trolley, the traveling mechanism comprises a cart traveling mechanism and a trolley traveling mechanism, the driving motors comprise a cart driving motor and a trolley driving motor, the frequency converters comprise a cart frequency converter and a trolley frequency converter, the PLC is respectively connected with the cart frequency converter and the trolley frequency converter, the cart frequency converter is connected with the cart driving motor, the cart driving motor drives the cart traveling mechanism to run, the trolley frequency converter is connected with the trolley driving motor, and the trolley driving motor drives the trolley traveling mechanism to run.
4. The automatic positioning system for crane running gear according to claim 3, wherein the code readers comprise cart code readers and cart code readers, and the RFID tags are uniformly arranged along one side of the running track between the current position and the target position.
5. The automatic positioning system for crane running gears according to claim 4, wherein the cart running rails and the trolley running rails are respectively provided with radio frequency identification tags.
6. The automatic positioning system for crane running gears according to claim 1, further comprising a display and control buttons, wherein the display and control buttons are respectively connected to the PLC.
7. The automatic positioning system for a crane running gear according to claim 6, wherein the display comprises a touch screen.
8. The automatic positioning system of claim 1, wherein the PLC controller is model number S7-12001214C.
9. The automatic positioning system for crane running gears according to claim 1, further comprising a reader/writer connected to the PLC controller.
10. The crane running gear automatic positioning system of claim 1, wherein the encoder comprises an absolute value encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922069153.2U CN210915011U (en) | 2019-11-27 | 2019-11-27 | Automatic positioning system of crane walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922069153.2U CN210915011U (en) | 2019-11-27 | 2019-11-27 | Automatic positioning system of crane walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210915011U true CN210915011U (en) | 2020-07-03 |
Family
ID=71368715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922069153.2U Active CN210915011U (en) | 2019-11-27 | 2019-11-27 | Automatic positioning system of crane walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210915011U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112537343A (en) * | 2020-12-14 | 2021-03-23 | 中车唐山机车车辆有限公司 | PRT vehicle and positioning method thereof |
| CN113401800A (en) * | 2021-07-16 | 2021-09-17 | 大连华锐重工起重机有限公司 | Position identification system and method of crane |
| CN114560394A (en) * | 2022-01-29 | 2022-05-31 | 唐山钢铁集团微尔自动化有限公司 | Method for automatically correcting coordinates of unmanned overhead travelling crane |
-
2019
- 2019-11-27 CN CN201922069153.2U patent/CN210915011U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112537343A (en) * | 2020-12-14 | 2021-03-23 | 中车唐山机车车辆有限公司 | PRT vehicle and positioning method thereof |
| CN113401800A (en) * | 2021-07-16 | 2021-09-17 | 大连华锐重工起重机有限公司 | Position identification system and method of crane |
| CN114560394A (en) * | 2022-01-29 | 2022-05-31 | 唐山钢铁集团微尔自动化有限公司 | Method for automatically correcting coordinates of unmanned overhead travelling crane |
| CN114560394B (en) * | 2022-01-29 | 2025-03-21 | 唐山钢铁集团微尔自动化有限公司 | A method for automatically correcting coordinates of unmanned overhead crane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210915011U (en) | Automatic positioning system of crane walking mechanism | |
| US20230019516A1 (en) | Ship unloading control system, ship loading control system, and related systems and apparatuses | |
| CN203512793U (en) | Container automation dock loading and unloading system | |
| US20240020619A1 (en) | Intelligent port control system and related systems and apparatuses | |
| CN104058261A (en) | Container automated wharf loading and unloading system and method | |
| CN107091637B (en) | Automatic scheduling system based on magnetic navigation | |
| CN109711787B (en) | Port intelligent control system and related system and device | |
| CN103809590B (en) | A kind of Handling device walking position control system | |
| CN204715836U (en) | A kind of AGV combed transfer robot | |
| CN105205629A (en) | Steel plant finished product storage and distribution automatic control method | |
| CN108090710A (en) | A kind of high ferro express mail logistics system | |
| CN105353759A (en) | Sorting automatic Guided vehicle (AGV) and automatic guided sorting system | |
| CN202404447U (en) | Automatic guided vehicle based on RFID technology | |
| CN110893967A (en) | RFID (radio frequency identification) positioning system for four-way shuttle vehicle whole warehouse | |
| CN202687252U (en) | Self-propelled sorting and scheduling device | |
| CN203689152U (en) | Automatic navigation device based on radio frequency identification technology | |
| CN205247207U (en) | AGV order -picking trucks and automated guidance letter sorting system | |
| CN109782761A (en) | A kind of AGV logistics delivery system and its control method | |
| CN104950895B (en) | Warehouse logisticses RFID and the navigation control method of visual identity navigation vehicle | |
| CN106504443B (en) | A kind of automatic book collating device and its book bidding method | |
| JP6567481B2 (en) | Automated traveling vehicle, automated traveling vehicle control system, automated traveling vehicle control method, automated traveling vehicle control program, and storage medium | |
| CN207293220U (en) | Suitable for the logistics code fetch system of freight container | |
| CN109324574A (en) | A kind of AGV trolley control system and its control method based on laser scanning | |
| CN201494328U (en) | Automatic navigation trolley | |
| CN204440164U (en) | A kind of automatic vehicle based on RFID and guidance system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |