Automatic goods grabbing system of portal crane

Abstract

The invention provides an automatic goods grabbing system of a portal crane, and belongs to the technical field of portal crane control. The automatic goods grabbing system of the portal crane comprises a control instruction generation module used for obtaining a first control instruction based on the looseness of a portal crane supporting rope; and the goods grabbing control module is used for controlling the portal crane grab bucket to grab materials based on the first control instruction. According to the invention, the accuracy and efficiency of portal crane operation can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of portal crane control, and in particular to an automatic cargo grabbing system for a portal crane. Background Art

[0002] Gantry crane automation is a crucial link in the future development of ports, and it is also a pioneering field for the development and reform of port equipment towards automation. In the operation process of gantry crane automation, the advantages are significant. It can not only effectively reduce labor costs to a certain extent, but also eliminate potential safety hazards that may cause harm to personnel, thereby greatly improving the utilization rate of equipment.

[0003] In terms of the current actual situation of gantry crane equipment, the lifting motor program of the gantry crane has a 5-second acceleration and deceleration protection when operating, which has a certain degree of adverse effect on the grab efficiency of the grab bucket. In the current gantry crane operation scene, the driver mainly relies on personal habits to control the grabbing. However, due to the limitations of the gantry crane driver's perspective, there are obvious differences between individuals in controlling the degree of slackness of the support rope. Especially in the process of closing the grab bucket, the wire rope in a relaxed state cannot play the role of controlling the grabbing amount as it should, which brings challenges to the accuracy and efficiency of the gantry crane operation. Summary of the invention

[0004] The disclosed embodiment provides an automatic cargo grabbing system for a gantry crane to improve the accuracy and efficiency of gantry crane operations.

[0005] The embodiment of the present disclosure provides a portal crane automatic cargo grabbing system, comprising: A control instruction generating module, used for obtaining a first control instruction based on the slackness of the gantry crane support rope; The cargo grabbing control module is used to control the gantry crane grab bucket to grab materials based on the first control instruction.

[0006] In an exemplary embodiment of the present disclosure, the control instruction generation module is specifically used to: The slack of the support rope is calculated based on the current of the door machine inverter to obtain the first control instruction.

[0007] In an exemplary embodiment of the present disclosure, the control instruction generating module is further configured to: In response to the first value being greater than or equal to a first threshold, the gantry crane grab is controlled to grab the material, wherein the first threshold is a slack value of the corresponding support rope when the gantry crane grab contacts the material.

[0008] In an exemplary embodiment of the present disclosure, the gantry crane grab bucket control module is specifically used for: The gantry crane grab bucket is controlled to grab materials based on the relative positions of the gantry crane grab bucket support structure and the gantry crane grab bucket opening and closing structure.

[0009] In an exemplary embodiment of the present disclosure, it further includes: The gantry crane lifting control module is used to control the lifting height of the gantry crane grab bucket based on the target cargo hold height, and to control the unloading height of the gantry crane grab bucket based on the height of the material in the target cargo hold.

[0010] In an exemplary embodiment of the present disclosure, it further includes: a power supply unit, the power supply unit is used to provide working power for the automatic cargo grabbing system of the door crane; The power supply unit includes: a control switch, a power supply control module, a charging module, an energy storage module, a power supply switching module and a constant current module; The first end of the control switch is used to connect to an external power supply, the second end of the control switch is connected to the first end of the power supply control module, the second end of the power supply control module is connected to the first end of the constant current module, and the second end of the constant current module is used to output a working power supply; The first end of the charging module is connected to the second end of the control switch, and the second end of the charging module is connected to the energy storage module; The first end of the power switching module is connected to the third end of the power supply control module, and the second end of the power switching module is connected to the energy storage module.

[0011] In an exemplary embodiment of the present disclosure, the power supply control module includes: a voltage regulator tube D1, a resistor R1, a transistor Q3, a resistor R6 and a transistor Q4; The cathode of the voltage regulator tube D1 is connected to the second end of the control switch, the anode of the voltage regulator tube D1 is grounded through the resistor R1, the anode of the voltage regulator tube D1 is connected to the base of the transistor Q4, the collector of the transistor Q4 is connected to the base of the transistor Q3 through the resistor R6, the emitter of the transistor Q4 is grounded, the emitter of the transistor Q3 is connected to the cathode of the voltage regulator tube D1, and the collector of the transistor Q3 is connected to the first end of the constant current module.

[0012] In an exemplary embodiment of the present disclosure, the constant current module includes: a voltage regulator tube D3, a resistor R4, a resistor R3, a resistor R2, a transistor Q2 and a transistor Q1; The cathode of the voltage regulator D3 is connected to the collector of the transistor Q3, the anode of the voltage regulator D3 is connected to the base of the transistor Q1, the emitter of the transistor Q1 is grounded through the resistor R2, the collector of the transistor Q1 is connected to the collector of the transistor Q3 through the resistor R4, the collector of the transistor Q1 is connected to the base of the transistor Q2, the collector of the transistor Q2 is connected to the collector of the transistor Q3, the emitter of the transistor Q2 is grounded through the resistor R3, and the emitter of the transistor Q2 is used to output the working power supply.

[0013] In an exemplary embodiment of the present disclosure, the power switching module includes: a switch tube Q5; The control end of the switch tube Q5 is connected to the base of the transistor Q3, the first end of the switch tube Q5 is connected to the energy storage module, and the second end of the switch tube Q5 is connected to the collector of the transistor Q2.

[0014] In an exemplary embodiment of the present disclosure, the charging module includes: a diode D2; The anode of the diode D2 is connected to the second end of the control switch, and the cathode of the diode D2 is connected to the energy storage module.

[0015] The beneficial effects of the automatic cargo grabbing system for a gantry crane provided by the disclosed embodiment are as follows: the disclosed embodiment can sense the slack state of the support rope in real time, and automatically generate the corresponding first control instruction according to the preset rules, effectively avoiding the potential safety hazards caused by improper slackness of the support rope, and ensuring the stability and reliability of the grab bucket during operation. At the same time, the cargo grabbing control module can quickly respond to the first control instruction, accurately adjust the grabbing action of the gantry crane grab bucket, and realize the refined control of the material grabbing process. It not only improves the operation accuracy and efficiency, but also reduces the difficulty of operation and labor costs, making the entire cargo grabbing process smoother and more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 It is a structural schematic diagram of a gantry crane automatic cargo grabbing system provided by an embodiment of the present disclosure; Figure 2 It is a structural schematic diagram of an automatic cargo grabbing system for a gantry crane provided by another embodiment of the present disclosure; Figure 3 is a schematic diagram of the structure of a power supply unit provided in an embodiment of the present disclosure; Figure 4 is a circuit diagram of a power supply unit provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] In order to enable people in the technical field to better understand the present solution, the technical solution in the embodiment of the present solution will be clearly described below in conjunction with the drawings in the embodiment of the present solution. Obviously, the described embodiment is an embodiment of a part of the present solution, not all of the embodiments. Based on the embodiments in the present solution, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present solution.

[0019] The term "including" and any other variations in the specification and claims of this solution and the above drawings mean "including but not limited to", and is intended to cover non-exclusive inclusions and is not limited to the examples listed in the text. In addition, the terms "first" and "second" are used to distinguish different objects, not to describe a specific order.

[0020] The following is a detailed description of the implementation of the present disclosure in conjunction with the specific drawings: Figure 1 This is a schematic diagram of the structure of a door crane automatic cargo grabbing system 10 provided in an embodiment of the present disclosure. Figure 1 The automatic cargo grabbing system 10 for a gantry crane comprises: a control instruction generating module 11, which is used to obtain a first control instruction based on the slackness of a gantry crane support rope; and a cargo grabbing control module 12, which is used to control the gantry crane grab bucket to grab materials based on the first control instruction.

[0021] In this embodiment, the support rope is a rope component (such as a steel wire rope) used to connect the gantry crane grab bucket and the main structure of the gantry crane, and plays a role in supporting and assisting the control of the grab bucket. The grab bucket is suspended on the gantry crane's boom or other related structures through the support rope. When the grab bucket performs operations such as grabbing, lifting and moving materials, the support rope bears part of the weight of the grab bucket and the materials it grabs.

[0022] In this embodiment, the control instruction generation module 11 generates a first control instruction according to the slackness of the door machine support rope. The control instruction generation module 11 can detect the current state of the door machine support rope in real time through various sensors and monitoring means to determine its degree of slackness. For example, the data fed back by the encoder can be used to determine the change in the length of the support rope, or the force state of the support rope can be indirectly determined by the weight sensor to infer the slackness. When it is monitored that the slackness of the support rope reaches a certain threshold or is in a specific state range, the control instruction generation module 11 can generate a first control instruction according to a preset rule.

[0023] The cargo grabbing control module 12 can always receive the first control instruction from the control instruction generating module 11. Once the instruction is received, the cargo grabbing control module 12 can parse the content of the instruction and determine the specific operation to be performed. For example, to control the action of the grab bucket, according to the first control instruction, the cargo grabbing control module 12 can send a corresponding control signal to the drive system of the gantry crane. If the instruction is to grab the material, the cargo grabbing control module 12 can adjust the lifting mechanism, opening and closing mechanism, etc. of the gantry crane so that the grab bucket can accurately move to the material position and perform the grabbing action. This avoids the phenomenon of excessive slackness of the support rope caused by factors such as the driver's perspective problem or poor cooperation with the conductor.

[0024] It can be concluded from the above that the present embodiment can sense the slack state of the support rope in real time, and automatically generate the corresponding first control instruction according to the preset rules, effectively avoiding the potential safety hazards caused by improper slackness of the support rope, and ensuring the stability and reliability of the grab bucket during operation. At the same time, the grab control module 12 can quickly respond to the first control instruction, accurately adjust the grab action of the gantry grab bucket, and realize the refined control of the material grabbing process. It not only improves the operation accuracy and efficiency, but also reduces the difficulty of operation and labor costs, making the entire grabbing process smoother and more efficient.

[0025] In one embodiment of the present disclosure, the control instruction generating module 11 is specifically used to calculate the slackness of the support rope based on the current of the door machine inverter to obtain the first control instruction.

[0026] In this embodiment, when the grab bucket of the gantry crane is operating, the working state of the motor (such as lifting, lowering, opening and closing the bucket, etc.) can be reflected by the current change of the inverter. Because when the motor drives the grab bucket to move, different load conditions (including factors such as the weight of the grab bucket itself, the weight of the material, and the tension of the support rope) will cause different torques required by the motor, and the inverter will adjust the output current according to the torque requirements of the motor.

[0027] In this embodiment, a mathematical model between the frequency converter current and the slack of the support rope can be established. The mathematical model can be determined by experimental data, physical principle deduction or empirical formula.

[0028] For example, in the experimental stage, the door machine can be tested with different loads and slack of the support rope, and the current value of the inverter in each test can be recorded. Through data analysis, the relationship between the current and the slack, such as a linear relationship, a quadratic function relationship, etc., can be found. Then, in the actual operation process, the control instruction generation module 11 obtains the current data of the inverter in real time. By substituting the obtained current value into the pre-established mathematical model, the current slack of the support rope can be calculated.

[0029] In this embodiment, after calculating the slack of the support rope, the control instruction generation module 11 can generate the first control instruction according to preset rules. These preset rules can be formulated based on the requirements of safe and efficient operation of the gantry crane.

[0030] For example, if the calculated slack of the support rope is too large, exceeding the safety threshold or the limit that may affect the efficiency of grabbing, the first control instruction may require the grabbing control module 12 to tighten the support rope or adjust the position of the grab bucket to restore the appropriate slack. If the slack is within the normal range, the first control instruction may require the grabbing control module 12 to continue the current operation or make some fine adjustments.

[0031] From the above, it can be concluded that this embodiment uses the current change of the gantry crane inverter to reflect the working state of the motor, combines the pre-established mathematical model to calculate the slack of the support rope in real time, and generates control instructions according to preset rules, thereby achieving precise control of the gantry crane grab operation process, effectively improving the safety and efficiency of the operation, while reducing the dependence on additional sensors, simplifying the system structure, and enhancing the stability and reliability of the system.

[0032] In one embodiment of the present disclosure, the control instruction generation module 11 is specifically used to: in response to a first value being greater than or equal to a first threshold, control the gantry crane grab to grab materials, and the first threshold is a slack value of the corresponding support rope when the gantry crane grab contacts the material.

[0033] In this embodiment, the control instruction generation module 11 can continuously monitor and calculate the slackness of the gantry crane support rope. For example, the slackness value (i.e., the first value) of the support rope can be determined by methods such as the current of the gantry crane inverter. The first threshold is the slackness value of the support rope corresponding to when the gantry crane grab contacts the material. This means that when the grab contacts the material, the support rope is in a specific slack state, and the slackness value in this state is recorded as the first threshold. The first threshold can be obtained by measuring and analyzing the slackness of the support rope when the grab contacts the material under normal operating conditions of the gantry crane.

[0034] In this embodiment, the first value (current support rope slack value) calculated in real time is compared with the first threshold; if the first value is greater than or equal to the first threshold, this indicates that the current support rope slack reaches or exceeds the slack state when the grab bucket contacts the material.

[0035] When the first value is greater than or equal to the first threshold, the control instruction generation module 11 will send a control signal to the cargo grabbing control module 12 to control the gantry crane grab bucket to grab the material.

[0036] This is because at this time the system determines that the grab is already in a state where it can grab materials. By issuing grab instructions in a timely manner, it can ensure that the grab can perform material grabbing operations at the appropriate time, thereby improving work efficiency and accuracy.

[0037] From the above, it can be concluded that this embodiment continuously monitors and calculates the slackness of the gantry crane support rope and compares it with the preset first threshold value (i.e. the slackness value when the grab bucket contacts the material). This can promptly send a control signal when the grab bucket reaches a suitable grabbing state, thereby ensuring that the grab bucket grabs the material at the best time, thereby improving operating efficiency and accuracy and optimizing the overall performance of the gantry crane automatic cargo grabbing system 10.

[0038] In one embodiment of the present disclosure, the gantry crane grab control module is specifically used to control the gantry crane grab to grab materials based on the relative position of the gantry crane grab support structure and the gantry crane grab opening and closing structure.

[0039] In this embodiment, the relative position of the gantry crane grab support structure and the gantry crane grab opening and closing structure can be determined by the encoder. Encoders are installed on both the support mechanism and the opening and closing mechanism. The encoders can provide real-time feedback on the position information of the support and opening and closing mechanisms. These encoders can accurately measure the position changes of the mechanisms and provide a data basis for subsequent precise control.

[0040] In this embodiment, a portal crane automatic cargo grabbing system 10 can be applied to a programmable logic controller (PLC).

[0041] The data fed back by the encoder is transmitted to the PLC. The PLC uses this data to perform calculations to obtain the real-time positions of the support and opening and closing mechanisms. By continuously receiving and processing the feedback information from the encoder, the PLC can track the position changes of the two mechanisms in real time to ensure accurate control of the grab state.

[0042] Normally, when the support and opening and closing mechanisms are in motion at the same time, their positions are the same. This means that when the bucket is not being opened or closed, the two mechanisms work together to maintain synchronous motion. When the bucket is being opened or closed, the opening and closing mechanism moves while the support mechanism does not move. At this time, a position difference will occur between the two mechanisms. This position difference reflects the opening and closing state of the grab bucket. The position difference from closed bucket to open bucket is the entire travel of the grab bucket from fully closed bucket to fully open bucket. By monitoring the changes in this position difference, the current state and position of the grab bucket can be determined.

[0043] In this embodiment, the grab bucket needs to be set before the gantry crane is operated. The purpose is to calibrate the position difference value of the grab bucket from opening to closing through the PLC. By predetermining this position difference range, a reference standard can be provided for subsequent automatic control. After the setting is completed, when the bucket is opened and closed, the PLC can make real-time judgments based on the changes in the position difference. Specifically, the deceleration and stop position of the grab bucket can be determined based on the changes in the position difference. For example, when the position difference is close to the set fully open or fully closed bucket position, the PLC can send a corresponding control signal to decelerate or stop the grab bucket, thereby realizing the function of automatic opening and closing of the grab bucket.

[0044] From the above, it can be concluded that the gantry crane grab control module realizes precise control based on the relative position of the support and opening and closing structures through a series of processes such as encoder feedback data, PLC calculation and grab setting, ensuring that the gantry crane grab can grab materials accurately and efficiently.

[0045] like Figure 2 As shown, in one embodiment of the present disclosure, it also includes: a gantry crane lifting control module 13, which is used to control the lifting height of the gantry crane grab bucket based on the target cargo hold height, and control the unloading height of the gantry crane grab bucket based on the height of the material in the target cargo hold.

[0046] In this embodiment, the gantry crane lifting control module 13 is mainly used to accurately control the height of the gantry crane grab bucket at different operation stages. The gantry crane lifting control module 13 is divided into two aspects of control: one is to control the lifting height of the gantry crane grab bucket based on the target cargo hold height, and the other is to control the unloading height of the gantry crane grab bucket based on the height of the material in the target cargo hold.

[0047] In this embodiment, the height of the target warehouse is determined. In this embodiment, it is necessary to obtain the height information of the target warehouse. This can be achieved in many ways, such as pre-measuring and storing the height data of the warehouse, or using a sensor (such as a laser ranging sensor, etc.) to measure the height of the warehouse in real time.

[0048] When the gantry crane grab bucket grabs the material, the material needs to be lifted to a certain height so as to be transported to the target warehouse. The gantry crane lifting control module 13 can determine the lifting height of the grab bucket according to the height of the target warehouse.

[0049] For example, if the target warehouse is higher, the gantry crane lifting control module 13 can issue a command to enable the lifting mechanism of the gantry crane to lift the grab bucket to a corresponding height to ensure that the grab bucket can smoothly transport the materials to the top of the warehouse.

[0050] In this embodiment, the height of the material in the target warehouse is determined. In order to accurately control the unloading height of the gantry crane grab, this embodiment needs to monitor the height of the material in the target warehouse in real time. This can be achieved by installing sensors (such as ultrasonic sensors, infrared sensors, etc.) in the warehouse. These sensors can measure the distance from the material surface to the sensor, thereby determining the height of the material.

[0051] After the gantry crane grab bucket transports the materials to the top of the target warehouse, the materials need to be accurately unloaded into the warehouse. The gantry crane lifting control module 13 can determine the unloading height of the grab bucket according to the height of the materials in the target warehouse. If the materials in the warehouse are already piled high, the gantry crane lifting control module 13 can adjust the unloading height of the grab bucket to make it slightly higher than the surface of the materials to avoid collision or scattering of the materials during the unloading process. On the contrary, if there is less material in the warehouse, the unloading height of the grab bucket can be appropriately lowered to ensure that the materials can be unloaded into the warehouse smoothly.

[0052] It can be concluded from the above that this embodiment achieves efficient and accurate operation in the material handling process by accurately controlling the lifting and unloading height of the grab bucket based on the height information of the target warehouse and the materials therein, effectively avoids material collision and scattering, and improves overall operation efficiency and safety.

[0053] like Figure 3 As shown, in one embodiment of the present disclosure, it also includes: a power supply unit 20, which is used to provide a working power supply for the automatic cargo grabbing system 10 of the door crane; the power supply unit 20 includes: a control switch 21, a power supply control module 24, a charging module 22, an energy storage module 23, a power switching module 25 and a constant current module 26; the first end of the control switch 21 is used to connect to an external power supply, the second end of the control switch 21 is connected to the first end of the power supply control module 24, the second end of the power supply control module 24 is connected to the first end of the constant current module 26, and the second end of the constant current module 26 is used to output the working power supply; the first end of the charging module 22 is connected to the second end of the control switch 21, and the second end of the charging module 22 is connected to the energy storage module 23; the first end of the power switching module 25 is connected to the third end of the power supply control module 24, and the second end of the power switching module 25 is connected to the energy storage module 23.

[0054] In this embodiment, the power supply unit 20 is used to provide working power for the entire system. It is mainly composed of a control switch 21, a power supply control module 24, a charging module 22, an energy storage module 23, a power switching module 25 and a constant current module 26. These components work together to ensure that the system can stably obtain a suitable power supply.

[0055] In this embodiment, when the control switch 21 is turned on, the electric energy of the external power supply flows into the power supply control module 24. On the one hand, the power supply control module 24 transmits the electric energy to the constant current module 26, and the constant current module 26 converts the electric energy into a stable working power supply through its own action and outputs it for use by various components of the system; on the other hand, it works in coordination with the power supply switching module 25. The charging module 22 plays a role when the external power supply is connected. One end of the charging module 22 is connected to the control switch 21, and the other end is connected to the energy storage module 23, which is responsible for charging the energy storage module 23. The power supply switching module 25 performs switching operations according to the state of the external power supply. When the external power supply is normal, the system is powered by it; once the external power supply is abnormal, the power supply switching module 25 will quickly switch to the energy storage module 23, and use the electric energy stored in the energy storage module 23 to continue to power the system, so as to ensure the stable operation and continuous operation of the automatic cargo grabbing system 10 of the door crane.

[0056] like Figure 4 As shown, in one embodiment of the present disclosure, the power supply control module 24 includes: a voltage regulator tube D1, a resistor R1, a transistor Q3, a resistor R6 and a transistor Q4; the cathode of the voltage regulator tube D1 is connected to the second end of the control switch 21, the anode of the voltage regulator tube D1 is grounded through the resistor R1, the anode of the voltage regulator tube D1 is connected to the base of the transistor Q4, the collector of the transistor Q4 is connected to the base of the transistor Q3 through the resistor R6, the emitter of the transistor Q4 is grounded, the emitter of the transistor Q3 is connected to the cathode of the voltage regulator tube D1, and the collector of the transistor Q3 is connected to the first end of the constant current module 26.

[0057] In this embodiment, the transistor Q4 may be an NPN transistor, and the transistor Q3 may be a PNP transistor.

[0058] When the external power supply is connected through the control switch 21, if the external power supply is normal, the voltage regulator D1 is broken down and turned on, a voltage is generated on the resistor R1, and the transistor Q4 is turned on. At this time, the base voltage of the transistor Q3 is less than the emitter voltage of the transistor Q3, and the transistor Q3 is also turned on. The VCC power supply outputs the supply voltage after passing through the control switch 21 and the transistor Q3, and then the supply voltage passes through the constant current module 26 to generate a stable working power supply.

[0059] It can be concluded from the above that the power supply control module 24 of this embodiment realizes effective monitoring and control of the external power supply through the combination of the voltage regulator, the resistor and the transistor, ensuring that it can stably conduct when the power supply is normal and provide a stable working power supply after being processed by the constant current module 26, thereby improving the stability and reliability of the circuit.

[0060] like Figure 4As shown, in one embodiment of the present disclosure, the constant current module 26 includes: a voltage regulator tube D3, a resistor R4, a resistor R3, a resistor R2, a transistor Q2 and a transistor Q1; the cathode of the voltage regulator tube D3 is connected to the collector of the transistor Q3, the anode of the voltage regulator tube D3 is connected to the base of the transistor Q1, the emitter of the transistor Q1 is grounded through the resistor R2, the collector of the transistor Q1 is connected to the collector of the transistor Q3 through the resistor R4, the collector of the transistor Q1 is connected to the base of the transistor Q2, the collector of the transistor Q2 is connected to the collector of the transistor Q3, the emitter of the transistor Q2 is grounded through the resistor R3, and the emitter of the transistor Q2 is used to output the working power supply.

[0061] In this embodiment, the cathode of the voltage regulator D3 is connected to the collector of the transistor Q3, and the anode is connected to the base of the transistor Q1. After the transistor Q3 outputs current, the voltage regulator D3 plays a role in stabilizing the voltage and provides a stable reference voltage for the base of the transistor Q1. The emitter of the transistor Q1 is grounded through the resistor R2, and the collector is connected to the collector of the transistor Q3 and the base of the transistor Q2 through the resistor R4. The transistor Q1 controls its own collector current according to the change of the base voltage, thereby affecting the base voltage of the transistor Q2. The collector of the transistor Q2 is connected to the collector of the transistor Q3, and the emitter is grounded through the resistor R3 and is used to output the working power supply. Under the control of the transistor Q1, the transistor Q2 adjusts its own working state to keep the output current constant, that is, no matter how the input voltage or load changes, the current passing through the resistor R3 is relatively stable, thereby realizing a constant current output working power supply, providing a stable current supply for the automatic cargo grabbing system 10 of the door crane.

[0062] From the above, it can be concluded that the constant current module 26 realizes effective control of the output current through the synergistic effect of the voltage regulator and the multi-stage transistor, and can keep the output current constant regardless of input voltage fluctuations or load changes, thereby providing a stable and reliable current supply for the automatic cargo grabbing system 10 of the door crane, and enhancing the operating stability and performance of the system.

[0063] like Figure 4 As shown, in one embodiment of the present disclosure, the power switching module 25 includes: a switch tube Q5; the control end of the switch tube Q5 is connected to the base of the transistor Q3, the first end of the switch tube Q5 is connected to the energy storage module 23, and the second end of the switch tube Q5 is connected to the collector of the transistor Q2.

[0064] In this embodiment, when the external power source VCC is normally supplied, the transistor Q4 is turned on, a voltage is generated on the resistor R6, and the switch tube Q5 is turned off, so that the energy storage module 23 is isolated from the subsequent circuit.

[0065] When the external power supply VCC is abnormal or lower than the normal value, the voltage provided by the external power supply VCC is less than the breakdown voltage of the Zener tube D1, the Zener tube D1 is cut off, the transistor Q4 is cut off, the transistor Q3 is also cut off, and the voltage on the resistor R6 is 0, thereby causing the switch tube Q5 to be turned on. At this time, the energy storage module 23 can be connected to the circuit through the switch tube Q5, replacing the external power supply VCC to power the collector of the transistor Q2 and other subsequent parts, thereby realizing power switching to ensure that the automatic cargo grabbing system 10 for the door crane can operate continuously and stably.

[0066] From the above, it can be concluded that the power switching module 25 realizes the function of automatically switching to the energy storage module 23 for power supply when the external power supply is abnormal by intelligently detecting the external power supply status and controlling the on and off of the switch 21, thereby ensuring the continuous and stable operation of the automatic cargo grabbing system 10 of the gantry crane in the event of power fluctuations or failures, and improving the reliability and emergency response capabilities of the system.

[0067] like Figure 4 As shown, in one embodiment of the present disclosure, the charging module 22 includes: a diode D2; an anode of the diode D2 is connected to the second end of the control switch 21, and a cathode of the diode D2 is connected to the energy storage module 23.

[0068] In this embodiment, the anode of the diode D2 is connected to the second end of the control switch 21. When the control switch 21 is connected to the external power supply, current flows in from the external power supply. Due to the unidirectional conduction characteristic of the diode D2, the current can only flow from the anode to the cathode. The cathode of the diode D2 is connected to the energy storage module 23. At this time, the current flows to the energy storage module 23 through the diode D2 to charge the energy storage module 23. In this process, the diode D2 ensures that the current can only flow into the energy storage module 23 in one direction, preventing the electric energy in the energy storage module 23 from flowing back into the external power supply line, thereby effectively realizing the safe and stable charging of the energy storage module 23, and providing a guarantee for the automatic cargo grabbing system 10 of the door crane to continue to work by relying on the energy storage module 23 when the external power supply is unstable or interrupted.

[0069] In this embodiment, a battery may be used as the energy storage module.

[0070] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A gantry crane automatic cargo grabbing system, characterized in that: include: A control instruction generating module, used for obtaining a first control instruction based on the slackness of the gantry crane support rope; The cargo grabbing control module is used to control the gantry crane grab bucket to grab materials based on the first control instruction.

2. The automatic cargo grabbing system for a gantry crane as claimed in claim 1, characterized in that: The control instruction generation module is specifically used for: The slack of the support rope is calculated based on the current of the door machine inverter to obtain the first control instruction.

3. The automatic cargo grabbing system for a gantry crane as claimed in claim 2, characterized in that: The control instruction generation module is also specifically used for: In response to the first value being greater than or equal to a first threshold, the gantry crane grab is controlled to grab the material, wherein the first threshold is a slack value of the corresponding support rope when the gantry crane grab contacts the material.

4. The automatic cargo grabbing system for a gantry crane as claimed in claim 1, characterized in that: The gantry crane grab bucket control module is specifically used for: The gantry crane grab bucket is controlled to grab materials based on the relative positions of the gantry crane grab bucket support structure and the gantry crane grab bucket opening and closing structure.

5. The automatic cargo grabbing system for a gantry crane as claimed in claim 1, characterized in that: Also includes: The gantry crane lifting control module is used to control the lifting height of the gantry crane grab bucket based on the target cargo hold height, and to control the unloading height of the gantry crane grab bucket based on the height of the material in the target cargo hold.

6. The automatic cargo grabbing system for a gantry crane as claimed in claim 1, characterized in that: Also includes: A power supply unit, the power supply unit is used to provide working power for the automatic cargo grabbing system of the gantry crane; The power supply unit includes: a control switch, a power supply control module, a charging module, an energy storage module, a power supply switching module and a constant current module; The first end of the control switch is used to connect to an external power supply, the second end of the control switch is connected to the first end of the power supply control module, the second end of the power supply control module is connected to the first end of the constant current module, and the second end of the constant current module is used to output a working power supply; The first end of the charging module is connected to the second end of the control switch, and the second end of the charging module is connected to the energy storage module; The first end of the power switching module is connected to the third end of the power supply control module, and the second end of the power switching module is connected to the energy storage module.

7. The automatic cargo grabbing system for a gantry crane as claimed in claim 6, characterized in that: The power supply control module includes: a voltage regulator tube D1, a resistor R1, a transistor Q3, a resistor R6 and a transistor Q4; The cathode of the voltage regulator tube D1 is connected to the second end of the control switch, the anode of the voltage regulator tube D1 is grounded through the resistor R1, the anode of the voltage regulator tube D1 is connected to the base of the transistor Q4, the collector of the transistor Q4 is connected to the base of the transistor Q3 through the resistor R6, the emitter of the transistor Q4 is grounded, the emitter of the transistor Q3 is connected to the cathode of the voltage regulator tube D1, and the collector of the transistor Q3 is connected to the first end of the constant current module.

8. The automatic cargo grabbing system for a gantry crane as claimed in claim 7, characterized in that: The constant current module includes: a voltage regulator tube D3, a resistor R4, a resistor R3, a resistor R2, a transistor Q2 and a transistor Q1; The cathode of the voltage regulator D3 is connected to the collector of the transistor Q3, the anode of the voltage regulator D3 is connected to the base of the transistor Q1, the emitter of the transistor Q1 is grounded through the resistor R2, the collector of the transistor Q1 is connected to the collector of the transistor Q3 through the resistor R4, the collector of the transistor Q1 is connected to the base of the transistor Q2, the collector of the transistor Q2 is connected to the collector of the transistor Q3, the emitter of the transistor Q2 is grounded through the resistor R3, and the emitter of the transistor Q2 is used to output the working power supply.

9. The automatic cargo grabbing system for a gantry crane as claimed in claim 8, characterized in that: The power switching module includes: a switch tube Q5; The control end of the switch tube Q5 is connected to the base of the transistor Q3, the first end of the switch tube Q5 is connected to the energy storage module, and the second end of the switch tube Q5 is connected to the collector of the transistor Q2.

10. The automatic cargo grabbing system for a gantry crane as claimed in claim 6, characterized in that: The charging module includes: a diode D2; The anode of the diode D2 is connected to the second end of the control switch, and the cathode of the diode D2 is connected to the energy storage module.

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