Magnetic nail based automatic rail-mounted gantry crane cart positioning control system and method

Abstract

The invention relates to a magnetic nail based automatic rail-mounted gantry crane cart positioning control system and method. The control system comprises cart rails, a rail crane cart running on thecart rails, a positioning unit and a control unit, wherein the positioning unit and the control unit are mounted on the rail crane cart. The positioning unit comprises a master controller, a variablefrequency driver and an encoder. The control unit comprises cart drivers and driving motors, and the cart drivers and the driving motors are mounted on the rail crane cart and connected mutually. Thepositioning unit further comprises a magnetic nail assembly connected with the master controller and used for transmitting the reference position. The control unit further comprises a PID controllerconnected with the master controller, the cart drivers and the driving motors and used for controlling the rotating speed adjustment amount of the driving motors delta REFRIGERATOR. Compared with theprior art, the magnetic nail based automatic rail-mounted gantry crane cart positioning control system has the advantages of accurately providing the position of the rail crane cart, being capable offlexibly adjusting the running posture of the rail crane cart and the like.

Description

technical field [0001] The invention relates to the control field of rail cranes, in particular to an automatic rail crane positioning control system and method based on magnetic nails. Background technique [0002] With the continuous application of automation technology in ports, automated rail cranes have become the main loading and unloading equipment in major automated dock yards. During the automatic operation of rail cranes, the positioning accuracy of the cart mechanism will directly affect the accuracy and efficiency of the system's automatic stacking and picking of boxes. The basis of precise positioning is to obtain accurate and reliable cart location information. [0003] In the operation process of traditional rail cranes, the driver's visual and subjective judgment is mainly used to locate the working position of the cart. The accuracy of the cart position is not high. Usually, only one absolute wheel is installed on the driven wheel of one side of the cart. ...

AI Technical Summary

Problems solved by technology

The detection device has the following defects, which cannot meet the positional accuracy requirements of automated operations:

[0004] 1) The encoder is installed on the wheel of the cart, and the displacement of the cart is calculated by detecting the number of turns of the wheel. However, during the operation, especially in rainy and snowy weather or emergency parking, the wheels will slip, which will cause large error;

[0005] 2) During the operation of the cart, the cumulative error of the encoder increases continuously, and the accuracy cannot be guaranteed;

[0006] 3) The span of the rail crane can reach more than 20 meters. Only installing an encoder on the driven wheel of one side of the cart will still make the position of the cart unknown, which will eventually lead to unpredictable attitude of the rail crane and bring difficulties to automated operations.

The disadvantages are also obvious. Due to the continuous change of the load of the rail crane, the running posture of the cart will deflect to a certain extent after a period of time, which will cause the wear of the guide wheels and even the rails, that is, the phenomenon of "gnawing the rails", "gnawing the rails" Once the phenomenon occurs, the adjustment of the attitude of the cart cannot be realized by the existing driving method, which will bring relatively great difficulties to the follow-up maintenance

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