CN113173505B - Automatic bottom opening stacking method and system for gantry crane storage yard, storage medium and gantry crane - Google Patents
Automatic bottom opening stacking method and system for gantry crane storage yard, storage medium and gantry crane Download PDFInfo
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- CN113173505B CN113173505B CN202110512151.5A CN202110512151A CN113173505B CN 113173505 B CN113173505 B CN 113173505B CN 202110512151 A CN202110512151 A CN 202110512151A CN 113173505 B CN113173505 B CN 113173505B
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- 230000001960 triggered effect Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 3
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- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
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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
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
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Abstract
The application relates to a method, a system, a storage medium and a gantry crane for automatic bottom opening stacking in a gantry crane yard, relates to the technical field of port loading and unloading, and solves the problems that a remote control driver performs remote operation on the gantry crane in the yard, the remote control driver occupies a remote control operation table for a long time, manual intervention links of the driver are more, the long-time operation of the driver is easy to fatigue, and the stacking efficiency of a box body is low; it includes judging whether it receives the operation instruction; if yes, the position of the gantry crane cart is obtained; judging whether the position of the gantry crane cart coincides with the target position; if yes, detecting gap values of the current box body and the front box body, the rear box body, the left box body and the right box body; judging whether the gap values of the current box body and the front box body, the rear box body, the left box body and the right box body are larger than the reference gap value or not; if so, controlling the gantry crane trolley to descend and putting down the box body. The automatic box stacking device has the advantages that the automatic box stacking is realized, and the box stacking efficiency is improved.
Description
Technical Field
The application relates to the technical field of port loading and unloading, in particular to an automatic bottom opening stacking method and system for a gantry crane yard, a storage medium and a gantry crane.
Background
The gantry crane for the container yard, which is a gantry crane for a container yard, is a gantry crane which is dependent on tire walking, and has the advantages of low investment cost, good flexibility and maneuverability, high standardization degree and the like compared with a track crane which is dependent on track walking.
In the related art, a yard gantry crane is remotely operated by a remote control driver, so that the remote control driver occupies a remote control operation table for a long time in such a mode, the manual intervention links of the driver are more, the long-time operation of the driver is easy to fatigue, the stacking efficiency of a box body is low, and the improvement is still provided.
Disclosure of Invention
The application aims to provide an automatic bottom opening stacking method for a gantry crane yard, which has the characteristics of realizing automatic stacking of boxes and improving the stacking efficiency of the boxes.
The first object of the present application is achieved by the following technical solutions:
an automatic bottom opening stacking method for a gantry crane yard comprises the following steps:
judging whether an operation instruction is received or not;
if yes, the position of the gantry crane cart is obtained;
judging whether the position of the gantry crane cart coincides with the target position;
if yes, detecting gap values of the current box body and the front box body, the rear box body, the left box body and the right box body;
judging whether the gap values of the current box body and the front box body, the rear box body, the left box body and the right box body are larger than the reference gap value or not;
if so, controlling the gantry crane trolley to descend and putting down the box body.
Through adopting above-mentioned technical scheme, through the position of cart and the clearance value of current box and preceding box, back box, left box, right box, the dolly of control portal crane is put down the box, has realized the automation of box and has piled up efficiency has been improved the box.
Optionally, the method further comprises:
acquiring wind speed information near the gantry crane;
judging whether the wind speed information is larger than wind speed reference information or not;
if yes, trolley swing information of the gantry crane is obtained;
and controlling the gantry crane trolley to put down the box body according to the trolley swing information of the gantry crane.
By adopting the technical scheme, whether the wind speed information is greater than the wind speed reference information is judged, if the wind speed information is greater than the wind speed reference information, the trolley can swing greatly, the box body is put down by the trolley is directly controlled to deviate from the preset position, the trolley swing information of the gantry crane is obtained, the gantry crane trolley is controlled to put down the box body according to the trolley swing information of the gantry crane, the deviation of the gantry crane when the box body is put down can be reduced, and the position precision of the box body when the box body is put down is improved.
Optionally, the method for acquiring the trolley swing information of the gantry crane comprises the following steps:
the trolley of the gantry crane is provided with a signal transmitter in advance, one supporting leg of the gantry crane is provided with at least one signal receiving device matched with the signal transmitter, the signal receiving device comprises a middle signal receiver and a plurality of side signal receivers symmetrically arranged on two sides of the middle signal receiver, the side signal receivers on the same side of the middle signal receiver are distributed in a circular arc shape, and the middle signal receiver and the side signal receiver are opposite to the signal transmitter;
acquiring the distances between a plurality of side signal receivers and a middle signal receiver;
acquiring trigger time information of a plurality of side signal receivers and a plurality of intermediate signal receivers;
and acquiring the trolley swing information of the gantry crane according to the distances between the side signal receivers and the middle signal receiver and the trigger time information of the side signal receivers and the middle signal receiver.
Through adopting above-mentioned technical scheme, according to the interval of a plurality of side signal receiver and intermediate signal receiver and the trigger time information of a plurality of side signal receiver and intermediate signal receiver, can obtain the swing curve of dolly, dolly swing information promptly, convenient operation, easy implementation.
Optionally, the method further comprises:
judging whether triggering information of the intermediate signal receiver is received or not;
if so, controlling piston rods of limiting oil cylinders preset on two sides of the gantry crane trolley in the length direction to extend downwards out of the box body;
and controlling the shrinkage speed of the piston rod of the limiting oil cylinder and the descending speed of the trolley of the gantry crane to synchronously lower the box body.
Through adopting above-mentioned technical scheme, if the triggering information of intermediate signal receiver is received, then demonstrate the dolly and swing to the minimum, the piston rod of control spacing hydro-cylinder stretches out the box centre gripping in subaerial box both sides or compresses tightly ground this moment to order about the box to stop the swing, the shrink speed of the piston rod of control spacing hydro-cylinder and the dolly of gantry crane descend the speed synchronization with the box and put down, can reduce the deviation when the gantry crane puts down the box, improved the position accuracy when the box is put down.
Optionally, calibration cylinders are preset at two sides of the gantry crane trolley in the length direction, a signal transmitter and a signal receiver are respectively arranged at the lower ends of the two limiting cylinders, and the limiting cylinders are fixed on piston rods of the calibration cylinders;
if the limit oil cylinder extends downwards out of the box body, judging whether the signal receiver is triggered or not in preset time;
if not, controlling the piston rod of the calibration cylinder to shrink.
Through adopting above-mentioned technical scheme, after the piston rod of spacing hydro-cylinder stretches out the box downwards, if signal receiver does not trigger in the time of predetermineeing, it places to indicate that there is the box subaerial below the dolly, and the piston rod centre gripping of spacing hydro-cylinder is in the both sides of ground box this moment, and the piston rod shrink of control calibration hydro-cylinder can order about the box that the dolly below lifted to align with subaerial box, can reduce the deviation when the gantry crane put down the box, has improved the position accuracy when the box was put down.
Optionally, the method further comprises:
acquiring the weight of a trolley of the gantry crane;
judging whether the weight of the trolley of the gantry crane is smaller than the reference weight;
if so, the trolley controlling the gantry crane stops descending.
Through adopting above-mentioned technical scheme, the dolly weight refers to the sum of dolly self weight and dolly below the weight of hoisting object, and the dolly weight is less than benchmark weight and indicates that the dolly has placed the box on subaerial or subaerial box, and the control dolly stops to descend, has saved the energy on the one hand, and on the other hand makes the box be difficult for being crushed by the dolly.
The application aims at providing an automatic bottom opening stacking system for a gantry crane yard, which has the characteristics of realizing automatic stacking of the box body and improving the stacking efficiency of the box body.
The second object of the present application is achieved by the following technical solutions:
an automatic bottom opening stacking system for a gantry crane yard comprises,
a position acquisition module for acquiring the position of the gantry crane cart,
the gap value acquisition module is used for detecting gap values of the current box body and the front box body, the rear box body, the left box body and the right box body; the method comprises the steps of,
and the control module is used for controlling the drop of the gantry crane trolley according to the position and the clearance values of the current box body, the front box body, the rear box body, the left box body and the right box body.
Through adopting above-mentioned technical scheme, the position that the position acquireed module acquireed the gantry crane dolly, clearance value acquireed the clearance value of current box and preceding box, back box, left box, right box, control module is according to the decline of position and current box and preceding box, back box, left box, right box's clearance value control gantry crane dolly, has realized the automatic stack of box, has improved box stacking efficiency.
The third object of the application is to provide a computer storage medium which can store corresponding programs and has the characteristic of being convenient for realizing the automatic bottom opening stacking method of the gantry crane yard.
The third object of the present application is achieved by the following technical solutions:
a computer readable storage medium storing a computer program capable of being loaded by a processor and executing any one of the methods described above.
The application aims at providing a gantry crane which has the characteristics of being convenient for realizing automatic stacking of the box body and improving the stacking efficiency of the box body.
The fourth object of the present application is achieved by the following technical solutions:
the gantry crane comprises a cart and a cart connected to the cart, wherein the cart is provided with two supporting legs, and further comprises at least one signal emitter arranged on one side of the cart, which is close to the supporting legs, and at least one signal receiving device which is arranged on one supporting leg of the gantry crane and corresponds to the signal emitters one by one, the signal receiving device comprises a middle signal receiver and a plurality of side signal receivers symmetrically arranged on two sides of the middle signal receiver, the plurality of side signal receivers on the same side of the middle signal receiver are distributed in an arc shape, and the middle signal receiver and the side signal receiver are arranged opposite to the signal emitter;
the automatic bottom opening stacking method for the gantry crane yard further comprises a memory, a processor and a program which is stored in the memory and can run on the processor, wherein the program can be loaded and executed by the processor to realize the automatic bottom opening stacking method for the gantry crane yard.
Through adopting above-mentioned technical scheme, according to the interval of a plurality of side signal receiver and intermediate signal receiver and the trigger time information of a plurality of side signal receiver and intermediate signal receiver can obtain the swing curve of dolly, dolly swing information promptly, and the dolly of the gantry crane is controlled according to the dolly swing information of gantry crane and is put down the box, can reduce the deviation when the gantry crane put down the box, has improved the position accuracy when the box was put down.
Optionally, the device also comprises limiting oil cylinders fixedly connected to two sides of the gantry crane trolley in the length direction.
Through adopting above-mentioned technical scheme, the setting of spacing hydro-cylinder for the dolly swings to the minimum, can downwards stretch out the box centre gripping in subaerial box both sides or compress tightly ground through the piston rod of control spacing hydro-cylinder, with order about the box to stop the swing, the shrink speed of the spacing hydro-cylinder piston rod of control again is synchronous with the dolly decline speed of portal crane and is put down the box, can reduce the deviation when the portal crane put down the box, has improved the position accuracy when the box is put down.
Drawings
Fig. 1 is a schematic structural view of a gantry crane according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of the trolley, the calibration cylinder, the limiting cylinder and the signal receiving device according to the embodiment of the application.
Fig. 3 is a schematic flow chart of an automatic bottom opening stacking method for a gantry crane yard according to an embodiment of the present application.
Fig. 4 is a schematic flow chart of controlling the lowering of the gantry crane trolley according to wind speed information according to an embodiment of the present application.
Fig. 5 is a flowchart of a method for acquiring swing information of a trolley according to an embodiment of the present application.
Fig. 6 is a schematic flow chart of controlling the lowering of the gantry crane trolley according to the triggering condition of the intermediate signal receiver according to the embodiment of the present application.
Fig. 7 is a schematic flow chart of a trolley weight control gantry crane trolley according to an embodiment of the application.
In the figure, 1, a cart; 11. a support leg; 111. a signal receiving device; 1111. a side signal receiver; 1112. an intermediate signal receiver; 112. a fixing plate; 2. a trolley; 21. a signal transmitter; 22. a limit oil cylinder; 23. calibrating an oil cylinder; 231. and a support plate.
Detailed Description
The application is described in further detail below with reference to fig. 1-7.
Referring to fig. 1 and 2, an embodiment of the present application provides a gantry crane. The gantry crane comprises a cart 1, a trolley 2, a signal transmitter 21, a signal receiving device 111, a memory, a processor and a program stored in the memory and capable of running on the processor, wherein the program can be loaded and executed by the processor to realize an automatic bottom opening stacking method of a gantry crane yard as described below.
The cart 1 is in rolling connection with the ground, the cart 1 is provided with two supporting legs 11, and the cart 2 is connected to the cart 1 and can be lifted on the cart 1 to hoist the box body; the signal emitter 21 is arranged on one side of the trolley 2 close to one supporting leg 11, and a vertical line passing through the signal emitter 21 is equal to the length direction of the trolley 2 and divides the trolley 2; the signal receiving device 111 is mounted on a supporting leg 11, the number of signal receiving devices 111 is at least one, in this embodiment, the number of signal receiving devices 111 is described by taking one example, the supporting leg 11 is provided with a fixing plate 112, the signal receiving device 111 is mounted on the fixing plate 112, the signal receiving device 111 includes a middle signal receiver 1112 and a plurality of side signal receivers 1111 symmetrically arranged on two sides of the middle signal receiver 1112, the plurality of side signal receivers 1111 on the same side of the middle signal receiver 1112 are arranged in a circular arc shape, the middle signal receiver 1112 and the side signal receiver 1111 are opposite to the signal transmitter 21, that is, when the middle signal receiver 1112 is aligned with the signal transmitter 21, the middle signal receiver 1112 is triggered, and when the side signal receiver 1111 is aligned with the signal transmitter 21, the side signal receiver 1111 is triggered.
The two sides of the length direction of the trolley 2 are both fixed with calibration cylinders 23, piston rods of the two calibration cylinders 23 are reversely arranged, a supporting plate 231 is fixed on the piston rod of each calibration cylinder 23, the supporting plate 231 is in an L-shaped arrangement, a limiting cylinder 22 is fixed on the supporting plate 231, and the piston rod of each limiting cylinder 22 vertically extends downwards.
The implementation principle of the embodiment is as follows: in the process of putting down the lifted box body, when the bottom of the box body is close to the ground or the top of the box body on the ground, the piston rods of the limiting oil cylinders 22 downwards extend out of the two sides of the box body clamped on the ground or press the ground, so that the box body is driven to stop swinging, the shrinkage speed of the piston rods of the limiting oil cylinders 22 is controlled to synchronously put down the box body with the descending speed of the trolley 2 of the gantry crane, the deviation of the gantry crane when the box body is put down can be reduced, and the position precision of the box body when the box body is put down is improved.
The present embodiment is only for explanation of the present application and is not to be construed as limiting the present application, and modifications to the present embodiment, which may not creatively contribute to the present application as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present application.
The embodiment of the application provides an automatic bottom opening stacking method for a gantry crane yard, which comprises the following steps: judging whether an operation instruction is received or not; if yes, the position of the gantry crane cart is obtained; judging whether the position of the gantry crane cart coincides with the target position; if yes, detecting gap values of the current box body and the front box body, the rear box body, the left box body and the right box body; judging whether the gap values of the current box body and the front box body, the rear box body, the left box body and the right box body are larger than the reference gap value or not; if so, controlling the gantry crane trolley to descend and putting down the box body.
In the embodiment of the application, the trolley of the gantry crane is controlled to put down the box body through the position of the trolley and the gap values of the current box body, the front box body, the rear box body, the left box body and the right box body, so that the automatic stacking of the box bodies is realized, and the stacking efficiency of the box bodies is improved.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.
Embodiments of the application are described in further detail below with reference to the drawings.
The embodiment of the application provides an automatic bottom opening stacking method for a gantry crane yard, which mainly comprises the following steps of.
As shown in fig. 3:
step 1100: and judging whether a job instruction is received.
The operation instruction can be issued by manually pressing a button, or can be issued by means of voice, gestures and the like.
Step 1200: if so, the position of the gantry crane cart is obtained.
The front side and the rear side of the gantry crane cart are respectively provided with a BTG antenna, and the position of the cart can be obtained through the BTG antennas at the front side and the rear side of the cart; the GPS can also be installed on the gantry crane cart for positioning.
Step 1300: and judging whether the position of the gantry crane cart coincides with the target position.
Step 1400: if yes, detecting the gap values of the current box body and the front box body, the rear box body, the left box body and the right box body.
If the gap value is the same as the gap value of the front box body, the rear box body, the left box body and the right box body, the gap value is detected by a distance sensor arranged on the gantry crane trolley; if not, the gantry crane cart is controlled to be in fine adjustment until the position of the gantry crane cart coincides with the target position.
Step 1500: judging whether the gap value between the current box body and the front box body, the rear box body, the left box body and the right box body is larger than a reference gap value.
Step 1600: if so, controlling the gantry crane trolley to descend and putting down the box body.
If the gap values of the current box body and the front box body, the rear box body, the left box body and the right box body are larger than the reference gap values, the gap values of the box body lifted by the trolley, the front box body, the rear box body, the left box body and the right box body are required to meet the safety distance, and the gantry crane trolley is controlled to descend to put down the box body.
As shown in fig. 4, the method for controlling the lowering of the gantry crane trolley according to the wind speed information is shown.
Step 2100: and acquiring wind speed information near the gantry crane.
The wind speed measuring instrument can be arranged on the gantry crane to acquire wind speed information near the gantry crane, wherein the wind speed information is the wind speed.
Step 2200: and judging whether the wind speed information is larger than wind speed reference information.
The wind speed reference information can be set according to actual conditions, namely when the wind speed is greater than a certain value, the position of the gantry crane trolley for lowering the box body exceeds the safety distance.
Step 2300: if yes, the trolley swing information of the gantry crane is obtained.
Step 2400: and controlling the gantry crane trolley to put down the box body according to the trolley swing information of the gantry crane.
As shown in fig. 5, a method for acquiring the swing information of the trolley is provided.
The trolley of the gantry crane is provided with a signal transmitter in advance, a supporting leg of the gantry crane is provided with at least one signal receiving device matched with the signal transmitter, the signal receiving device comprises a middle signal receiver and a plurality of side signal receivers symmetrically arranged on two sides of the middle signal receiver, the side signal receivers on the same side of the middle signal receiver are distributed in a circular arc shape, the middle signal receiver and the side signal receiver are opposite to the signal transmitter, namely, when the middle signal receiver is aligned with the signal transmitter, the middle signal receiver is triggered, and when the side signal receiver is aligned with the signal transmitter, the side signal receiver is triggered.
Step 2311: the distance between the side signal receivers and the middle signal receiver is obtained.
Step 2312: trigger time information of a plurality of side signal receivers and a plurality of intermediate signal receivers is acquired.
Step 2313: and acquiring the trolley swing information of the gantry crane according to the distances between the side signal receivers and the middle signal receiver and the trigger time information of the side signal receivers and the middle signal receiver.
The swing curve of the trolley, namely the swing information of the trolley, can be obtained by taking the triggering time of the side signal receiver and the middle signal receiver as a horizontal axis and the distance between the corresponding side signal receiver and the middle signal receiver as a vertical axis.
As shown in fig. 6, a method for controlling the lowering of the gantry crane trolley according to the triggering condition of the intermediate signal receiver is provided.
Step 2411: and judging whether triggering information of the intermediate signal receiver is received or not.
When the intermediate signal receiver is aligned with the signal transmitter, the intermediate signal receiver receives the signal sent by the signal transmitter, and the intermediate signal receiver triggers.
Step 2412: if so, controlling limiting cylinders preset on two sides of the gantry crane trolley in the length direction to extend downwards out of the box body.
If the trigger information of the intermediate signal receiver is received, the trolley is indicated to swing to the lowest point, and at the moment, the piston rod of the limiting cylinder is controlled to extend downwards to the two sides of the box body clamped on the ground or to press the ground, so that the box body can be driven to stop swinging, and the position error of placing the box body on the ground or on the ground box body is reduced.
Step 2413: and controlling the upward sliding speed of the limiting oil cylinder and the descending speed of the trolley of the gantry crane to synchronously lower the box body.
The retraction speed of the piston rod of the limiting oil cylinder is controlled to be synchronous with the descending speed of the trolley of the gantry crane, so that the trolley is not easy to shake in the following descending process, and the precision of placing the box on the ground or the ground box is improved.
Step 2414: if the limit oil cylinder extends downwards out of the box body, judging whether the signal receiver is triggered or not in preset time.
The lower ends of the piston rods of the two limiting cylinders are respectively provided with a signal emitter and a signal receiver, the signal emitters and the signal receivers are arranged oppositely, if no object is shielded between the signal receivers and the signal emitters, the signal receivers receive signals sent by the signal emitters, and the signal receivers are triggered, otherwise, the signal receivers are not triggered.
Step 2415: if not, controlling the piston rod of the calibration cylinder to shrink.
The two sides of the gantry crane trolley in the length direction are pre-provided with calibration cylinders, and the limiting cylinders are fixed on piston rods of the calibration cylinders; if the signal receiver is not triggered, the signal receiver and the signal transmitter are prevented from being blocked by objects, namely, the box body is arranged, the piston rod of the calibration oil cylinder is controlled to be contracted, so that the box body lifted by the trolley is aligned with the box body on the ground, then the contraction speed of the piston rod of the limiting oil cylinder is controlled to be synchronous with the descending speed of the trolley of the gantry crane, and the box body lifted by the trolley is placed on the box body on the ground.
As shown in fig. 7, the lifting method of the gantry crane trolley is controlled according to the trolley weight of the gantry crane.
Step 3100: and obtaining the weight of the trolley of the gantry crane.
The weight of the trolley is the sum of the weight of the trolley and the weight of the object lifted below the trolley.
Step 3200: and judging whether the weight of the trolley of the gantry crane is smaller than the reference weight.
Wherein the reference weight is the weight of the trolley itself.
Step 3300: if so, the trolley controlling the gantry crane stops descending.
Wherein, the weight of the trolley is less than the reference weight to indicate that the trolley has placed the box on the ground or on the box on the ground, and the trolley is controlled to stop descending.
The embodiment of the application also provides an automatic lifting system of the gantry crane, which comprises:
a position acquisition module for acquiring the position of the gantry crane cart,
the gap value acquisition module is used for detecting gap values of the current box body and the front box body, the rear box body, the left box body and the right box body;
the wind speed acquisition module is used for acquiring wind speed information near the gantry crane;
the swing information acquisition module is used for acquiring the trolley swing information of the gantry crane;
the trigger information acquisition module is used for judging whether a signal receiver on a piston rod of the limiting oil cylinder is triggered or not; the method comprises the steps of,
the control module is used for controlling the drop of the gantry crane trolley according to the position of the gantry crane trolley, the clearance values of the current box body, the front box body, the rear box body, the left box body and the right box body, wind speed information and trolley swing information, controlling the calibration oil cylinder according to the triggering condition of the signal receiver on the piston rod of the limiting oil cylinder, and controlling the limiting oil cylinder according to whether the intermediate signal receiver triggers.
The embodiment of the application also provides a computer readable storage medium which stores a computer program capable of being loaded by a processor and executing any one of the automatic bottom opening stacking methods of the gantry crane yard.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.
The foregoing embodiments are only used to describe the technical solution of the present application in detail, but the descriptions of the foregoing embodiments are only used to help understand the method and the core idea of the present application, and should not be construed as limiting the present application. Variations or alternatives, which are easily conceivable by those skilled in the art, are included in the scope of the present application.
Claims (6)
1. The automatic bottom opening and stacking method for the gantry crane yard is characterized by comprising the following steps of:
judging whether an operation instruction is received or not;
if yes, the position of the gantry crane cart is obtained;
judging whether the position of the gantry crane cart coincides with the target position;
if yes, detecting gap values of the current box body and the front box body, the rear box body, the left box body and the right box body;
judging whether the gap values of the current box body and the front box body, the rear box body, the left box body and the right box body are larger than the reference gap value or not;
if so, controlling the gantry crane trolley to descend and putting down the box body;
acquiring wind speed information near the gantry crane;
judging whether the wind speed information is larger than wind speed reference information or not;
if yes, trolley swing information of the gantry crane is obtained;
controlling the trolley of the gantry crane to put down the box body according to the trolley swing information of the gantry crane;
the trolley swing information acquisition method of the gantry crane comprises the following steps:
the trolley of the gantry crane is provided with a signal transmitter in advance, one supporting leg of the gantry crane is provided with at least one signal receiving device matched with the signal transmitter, the signal receiving device comprises a middle signal receiver and a plurality of side signal receivers symmetrically arranged on two sides of the middle signal receiver, the side signal receivers on the same side of the middle signal receiver are distributed in a circular arc shape, and the middle signal receiver and the side signal receiver are opposite to the signal transmitter;
acquiring the distances between a plurality of side signal receivers and a middle signal receiver;
acquiring trigger time information of a plurality of side signal receivers and a plurality of intermediate signal receivers;
acquiring trolley swing information of the gantry crane according to the distances between the side signal receivers and the middle signal receiver and the triggering time information of the side signal receivers and the middle signal receiver;
judging whether triggering information of the intermediate signal receiver is received or not;
if so, controlling piston rods of limiting oil cylinders preset on two sides of the gantry crane trolley in the length direction to extend downwards out of the box body;
controlling the piston rod shrinkage speed of the limiting oil cylinder and the trolley descending speed of the gantry crane to synchronously lower the box body;
calibration oil cylinders are preset at two sides of the gantry crane trolley in the length direction, a signal transmitter and a signal receiver are respectively arranged at the lower ends of the two limiting oil cylinders, and the limiting oil cylinders are fixed on piston rods of the calibration oil cylinders;
if the piston rod of the limiting oil cylinder extends downwards out of the box body, judging whether the signal receiver is triggered or not in preset time;
if not, controlling the piston rod of the calibration cylinder to shrink.
2. The automatic bottom-opening stacking method of a gantry crane yard according to claim 1, further comprising:
acquiring the weight of a trolley of the gantry crane;
judging whether the weight of the trolley of the gantry crane is smaller than the reference weight;
if so, the trolley controlling the gantry crane stops descending.
3. An automatic bottom opening stacking system for a gantry crane yard, which performs the automatic bottom opening stacking method for the gantry crane yard as claimed in claim 1, comprising,
a position acquisition module for acquiring the position of the gantry crane cart,
the gap value acquisition module is used for detecting gap values of the current box body and the front box body, the rear box body, the left box body and the right box body; the method comprises the steps of,
and the control module is used for controlling the drop of the gantry crane trolley according to the position and the clearance values of the current box body, the front box body, the rear box body, the left box body and the right box body.
4. A computer readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which performs the method according to any of claims 1 to 2.
5. The utility model provides a portal crane, includes cart (1) and connects dolly (2) on cart (1), cart (1) have two landing legs (11), its characterized in that: the device comprises a trolley (2), a signal emitter (21) arranged on one side of the trolley, which is close to a supporting leg (11), and a signal receiving device (111) arranged on one supporting leg (11) of the gantry crane and corresponding to the signal emitter (21) one by one, wherein the signal receiving device (111) comprises a middle signal receiver (1112) and a plurality of side signal receivers (1111) symmetrically arranged on two sides of the middle signal receiver (1112), the side signal receivers (1111) on the same side of the middle signal receiver (1112) are distributed in a circular arc shape, and the middle signal receiver (1112) and the side signal receivers (1111) are arranged opposite to the signal emitter (21);
further comprising a memory, a processor and a program stored on the memory and executable on the processor, the program being capable of realizing an automatic bottom opening stacking method of a gantry yard as claimed in any one of claims 1 to 2 when loaded and executed by the processor.
6. A gantry crane as claimed in claim 5, wherein: the device also comprises limiting oil cylinders (22) fixedly connected to two sides of the gantry crane trolley (2) in the length direction.
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| CN202110512151.5A CN113173505B (en) | 2021-05-11 | 2021-05-11 | Automatic bottom opening stacking method and system for gantry crane storage yard, storage medium and gantry crane |
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| CN202110512151.5A CN113173505B (en) | 2021-05-11 | 2021-05-11 | Automatic bottom opening stacking method and system for gantry crane storage yard, storage medium and gantry crane |
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| CN114604764B (en) * | 2022-01-24 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | Automatic detection and control method and device for loosening of intelligent tower crane lifting hook |
| CN117246910B (en) * | 2023-10-23 | 2024-10-22 | 江苏省特种设备安全监督检验研究院 | Portal crane operation control method, application and system thereof |
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