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Optimization Method of Grab Path of Portal Crane

The technology of a portal crane and an optimization method, which is applied in the directions of cranes, load hanging elements, transportation and packaging, etc., can solve the problem that the rotating mechanism cannot rotate greatly, and achieve the effect of solving the inability to rotate greatly and optimizing the moving path.

Active Publication Date: 2018-07-03
BEIJING ARITIME INTELLIGENT CONTROL +1
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Problems solved by technology

[0003] The object of the present invention is to provide a method for optimizing the grab path of a portal crane. By optimizing the moving path of the grab bucket, the portal crane will not shake or roll when it is started, and more Effectively solve the problem that the rotating mechanism cannot rotate greatly due to site restrictions

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  • Optimization Method of Grab Path of Portal Crane
  • Optimization Method of Grab Path of Portal Crane
  • Optimization Method of Grab Path of Portal Crane

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Embodiment Construction

[0021] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

[0022] A method for optimizing the grab path of a gantry crane, comprising the following steps:

[0023] 1) Set the starting point and end point of the grab of the portal crane;

[0024] Such as figure 1 , 3 , 4, point O is the center of rotation of the gantry crane, point A is the starting point of the grab, and point B is the end of the grab. The length Loa of OA is the initial luffing length of the gantry crane, the length Lob of OB is the final luffing length, and the angle θ between OA and OB is the rotation angle.

[0025] 2) Find out the projection point of the vertical projection of the rotation center point of the gantry crane on the connecting line between the starting point and the end point;

[0026] Such as image 3 with Figure 4 As shown, the vertical projection point of the rot...

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Abstract

The invention discloses a gantry crane grab bucket path optimization method and belongs to the technical field of crane control. According to the gantry crane grab bucket path optimization method, after the movement starting point and the movement terminal point of a grab bucket are determined, a projection point, vertically projected on a connection line between the starting point and the terminal point, of a rotation center point of a gantry crane is found out; the grab bucket is firstly moved to the projection point from the starting point and then is moved to the terminal point; and therefore the grab bucket can move to the terminal point from the starting point along a horizontal straight line, the grab bucket movement path is optimized, it is guaranteed that when being started, the gantry crane is free of waggling and cannot lurch on one side, and the problem that because of site limitation, a rotating mechanism cannot substantially rotate is more effectively solved.

Description

technical field [0001] The invention relates to the technical field of crane control, in particular to a grab path optimization method of a portal crane. Background technique [0002] Portal cranes are mainly used in ports and open stockyards to load and unload goods with grab buckets or hooks. The portal crane includes a lifting mechanism, a rotating mechanism, a luffing mechanism and a running mechanism. The first three mechanisms are installed on the rotating part and participate in the operation in each cycle. Usually, the rotating mechanism and the luffing mechanism of the gantry crane work at the same time, such as figure 1 with figure 2 shown. In order to avoid the swaying of the gantry crane when it is started, and to avoid the occurrence of rollover, and to solve the problem that the rotating mechanism is not allowed to rotate greatly due to site restrictions, it is necessary to optimize the running path of the grab bucket of the gantry crane. Contents of the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C13/06B66C13/46
CPCB66C13/063B66C13/46B66C2700/082
Inventor 徐俊王军正王代先张巍俞江张宁李树强孙肃徽
Owner BEIJING ARITIME INTELLIGENT CONTROL
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