Rack stacker linkage control method and control system

Abstract

The invention discloses a reach stacker linkage control method and system, and the method comprises the steps: comparing an initial position and a real-time position of a container material edge, judging whether the container material edge meets a cargo dumping condition or not, and feeding back the horizontal deviation and vertical deviation of the container material edge to a host controller when the container material edge does not meet the cargo dumping condition; the main machine controller adjusts the arm frame according to the variation of the material edge, in the whole process, a worker only needs to operate the lifting appliance to rotate, the main machine controller automatically controls the arm frame to stretch out and draw back and perform variable-amplitude motion, and therefore the relative position of the discharging edge of the container and a carriage is ensured, the working efficiency is improved, and the manual operation difficulty is reduced.

Description

Technical Field

[0001] This application relates to the field of hoisting, and particularly to a method and a control system for linkage control of a reachstacker. Background Art

[0002] A reachstacker is short for a container reach stacker crane, which is a special loading and unloading and handling machine used to complete container loading, unloading, stacking and horizontal transportation operations.

[0003] By installing a rotary spreader on the reachstacker and using the rotary spreader to drive the open container to turn over, it is convenient to load bulk materials such as coal and corn into railway carriages, truck carriages, etc. in a dumping manner, with high production efficiency. During the unloading process, it is necessary to control the relative position (vertical and horizontal) between the discharging edge of the container and the carriage, otherwise the bulk materials may fall outside the carriage. If the position of the spreader remains unchanged, the position of the discharging edge of the container relative to the carriage changes when the spreader rotates; to keep the relative position between the discharging edge of the container and the carriage unchanged, it is necessary to operate the boom of the reachstacker in linkage.

[0004] Currently, the rotary motion of the spreader and the boom motion are manually operated separately by the operator. Due to reasons such as the long distance between the driver's cab and the discharging port and the viewing angle, it is not easy to ensure the relative position. The effect depends on the operator's operation level and proficiency, with low reliability. At the same time, it increases the work difficulty and intensity of the operator, affecting the operation efficiency. Summary of the Invention

[0005] The embodiments of this application provide a method and a control system for linkage control of a reachstacker, which can perform linkage control and reduce the operation difficulty.

[0006] In a first aspect, the embodiments of this application disclose a method for linkage control of a reachstacker, including:

[0007] Step S1: Calculate the initial position of the material edge of the container, where the initial position of the material edge of the container includes a horizontal initial position and a vertical initial position;

[0008] Step S2: Calculate the real-time position of the material edge of the container, where the real-time position of the material edge of the container includes a horizontal real-time position and a vertical real-time position;

[0009] Step S3: Calculate the horizontal deviation between the horizontal real-time position and the horizontal initial position of the material edge of the container, and calculate the vertical deviation between the vertical real-time position and the vertical initial position of the material edge of the container;

[0010] Step S4: Determine whether the horizontal deviation and the vertical deviation meet a predetermined condition. If they meet,

[0011] the boom does not move, and the spreader drives the container to unload. If they do not meet, the boom is adjusted according to the change amount of the material edge of the container until the predetermined condition is met, and then return to Step S2.

[0012] In a second aspect, an interlocking control system for a reachstacker is disclosed in an embodiment of the present application. The reachstacker interlocking control method is adopted. The control system includes a host controller, an arm elevation angle sensor, an arm length sensor, a spreader controller, and a spreader inclination sensor; the host controller can control the operation of the arm and the spreader; the arm elevation angle sensor is connected to the host controller and is used to collect the elevation angle of the arm; the arm length sensor is connected to the host controller and is used to collect the telescopic length of the arm; the spreader controller is connected to the host controller, and the host controller controls the operation of the spreader through the spreader controller; the spreader inclination sensor is connected to the spreader controller and is used to collect the rotation angle of the spreader.

[0013] The reachstacker interlocking control method and control system of the present application have at least the following beneficial effects:

[0014] In the control method of the embodiment of the present application, by comparing the initial position and the real-time position of the container edge and determining whether the container edge meets the conditions for dumping goods, when it does not meet, the horizontal deviation and the vertical deviation of the container edge are fed back to the host controller. The host controller adjusts the arm according to the change amount of the edge. In the whole process, the staff only needs to operate the rotation of the spreader, and the host controller automatically controls the telescopic and luffing movements of the arm, so as to ensure the relative position between the container discharging edge and the carriage, improve the operation efficiency, and reduce the manual operation difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0016] Figure 1 is a flowchart of the interlocking control method in the embodiment of the present application;

[0017] Figure 2 is a schematic diagram of the reachstacker structure in the embodiment of the present application;

[0018] Figure 3 is a schematic diagram of the principle of the interlocking control system in the embodiment of the present application;

[0019] The descriptions of the reference numerals are as follows: 10, reachstacker structure; 10a, first hinge end; 10b, second defined end; 10c, third hinge end; 10d, fourth hinge end;

[0020] 1, chassis;

[0021] 2, arm;

[0022] 3. Container spreader

[0023] 4. Connecting arm

[0024] 5. Container

[0025] K1. Center line of spreader; K2. Center line of container Detailed implementation manners

[0026] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than limiting the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present application by showing examples of the present application.

[0027] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, the elements defined by the statement "comprising..." do not exclude the existence of additional identical elements in the process, method, article or device comprising the elements.

[0028] As Figures 1 to 3 shown, an embodiment of the present application discloses a front loader linkage control method and control system. First, the control method in the embodiment of the present application will be introduced.

[0029] As Figure 1 shown, the control method includes:

[0030] Step S1: Calculate the initial position of the container edge, and the initial position of the container edge includes a horizontal initial position and a vertical initial position;

[0031] Step S2: Calculate the real-time position of the container edge, and the real-time position of the container edge includes a horizontal real-time position and a vertical real-time position;

[0032] Step S3: Calculate the horizontal deviation between the horizontal real-time position and the horizontal initial position of the container edge, and calculate the vertical deviation between the vertical real-time position and the vertical initial position of the container edge;

[0033] Step S4: Determine whether the horizontal deviation and the vertical deviation meet the predetermined conditions. If they meet, the boom does not move, and the spreader drives the container to unload the goods. If they do not meet, the boom is adjusted according to the change amount of the container edge until the predetermined conditions are met, and then return to Step S2.

[0034] Among them, in Step S1, the container edge refers to the side closest to the carriage when the container is dumping goods. The initial position of the container edge is as Figure 3 shown by K3 in

[0035] Among them, when starting to dump goods, the initial position of the container edge is in an ideal position, that is, the materials in the container can be accurately poured into the carriage (subsequently, as the container is lifted, the relative position between the container edge and the carriage will change, so correction is required to ensure that the materials will not spill outside the carriage).

[0036] Among them, the real-time position of the container edge refers to the position of the container edge at a certain moment during the dumping process.

[0037] Among them, in Step S4, if the horizontal deviation and the vertical deviation of the container edge meet the preset conditions, it proves that the relative position between the container edge and the carriage is still within the range for dumping goods. At this time, the spreader continues to drive the container to rotate and dump the goods. On the contrary, if the preset conditions are not met, it means that the relative position between the container edge and the carriage can no longer meet the requirements for dumping goods. If dumping continues, the goods may spill outside the carriage. Therefore, it is necessary to move the boom and adjust the position of the container edge so that the edge returns to the range of the horizontal deviation and the vertical deviation.

[0038] Among them, in Step S4, after adjusting the boom state and adjusting the container edge to meet the preset conditions, then return to Step S2 to continue determining the position of the container edge.

[0039] Preferably, in the said Step S1, the horizontal initial position of the container edge is as shown in Equation 1), and the vertical initial position of the container edge is as shown in Equation 2); let the initial length of the boom be L0, and let the initial pitch angle of the boom relative to the horizontal plane be α0;

[0040]

[0041] L Y0 = L0·sinα0 + H2 - L2·cosα0 - H4 2);

[0042] Among them, LX0 Indicates the horizontal initial position of the container edge; L Y0 Indicates the vertical initial position of the container edge; γ represents the initial angle between the initial position K3 of the container edge and the center line of the spreader; β represents the current rotation angle of the spreader; L2, L3, H2, H4, and H5 all represent constants.

[0043] Among them, when starting to unload, obtain the initial length L0 of the boom, the initial pitching angle α0, and the current rotation angle β of the spreader.

[0044] Among them, L2, L3, H2, H4, and H5 are constants of the mechanical structure itself and are known quantities. The specific definitions of L2, L3, H2, H4, and H5 are as follows:

[0045] First, refer to Figure 2 , first introduce the reachstacker structure 10. The reachstacker structure 10 includes a chassis 1, a boom 2 (telescopic boom), and a container spreader 3; one end of the boom 2 is hinged to the chassis 1 through a first hinge end 10a, and the other end of the boom has a second defined end 10b (not a hinge end); a connecting arm 4 is also provided at the other end of the boom, and the connecting arm 4 is perpendicularly connected to the boom 2 (integrally formed to form an L-shaped structure); one end of the connecting arm 4 is hinged to the upper end of the container spreader 3 through a third hinge end 10c, and the container spreader 3 is connected to the container 5; there is a fourth hinge end 10d on the spreader 3, and the container 5 can rotate around the fourth hinge end 10d to dump goods;

[0046] In Figure 2 , the straight line K1 represents the center line (vertical line) of the container spreader in the horizontal side view; the straight line K2 represents the center line of the container; the straight line K3 represents the position of the container edge when the container is in the initial position (horizontal side view).

[0047] Based on the above introduction of the structure of the reachstacker structure 10, L2, L3, H2, H4, and H5 can be defined respectively:

[0048] L2 represents the distance from the second defined end 10b to the third hinge end 10c (the distance along the length direction of the connecting arm);

[0049] L3 represents the distance from the side of the spreader 5 to the spreader center line K1 in the horizontal direction;

[0050] H1 represents the vertical height between the first hinge end 10a and the second defined end 10b;

[0051] H2 represents the height from the first hinge end 10a to the ground;

[0052] H3 represents the vertical height from the second defined end 10b to the third hinge end 10c;

[0053] H4 represents the distance from the third hinge end 10c to the upper plane of the container in the initial position, that is, the height between the third hinge end and the upper plane (the upper plane in the initial position);

[0054] H5 represents the height from the upper plane of the container in the initial position to the fourth hinge end 10d;

[0055] Preferably, the γ is as shown in formula (1.1);

[0056]

[0057] wherein, γ can be determined by L3 and H5; γ represents the initial angle between the container edge K3 and the spreader center line K1.

[0058] Preferably, in the step S2, the horizontal real-time position of the container edge is as shown in formula (3), and the vertical real-time position of the container edge is as shown in formula (4);

[0059]

[0060] L Y = L1·sinα1 + H2 - L2·cosα1 - H4 (4);

[0061] wherein, the real-time position of the container edge refers to the position of the container edge at a certain moment during unloading; L X represents the horizontal real-time position of the container edge; L Y represents the vertical real-time position of the container edge; L1 represents the telescopic length of the current boom; α1 represents the pitching angle of the current boom relative to the horizontal plane; γ represents the initial angle between the container edge K3 and the spreader center line K1; β represents the current rotation angle of the spreader; the definitions of L2, L3, H2, H4 and H5 are as described above.

[0062] Preferably, in the step S3, the horizontal deviation of the container edge is as shown in formula (5), and the vertical deviation of the container edge is as shown in formula (6);

[0063] ΔX = |L X - L X0 | (5);

[0064] ΔY = |L Y - L Y0 | (6);

[0065] wherein, ΔX represents the horizontal deviation of the container edge; ΔY represents the vertical deviation of the container edge; L X represents the horizontal real-time position of the container edge; L X0 represents the horizontal initial position of the container edge; LY Represents the vertical real-time position of the container edge; L Y0 Represents the vertical initial position of the container edge;

[0066] Among them, by comparing the difference between the real-time position and the initial position of the container edge, it can be known how much the container edge has deviated during the unloading process, and whether the deviation affects the dumping of goods from the container, so as to judge whether to adjust the position of the edge.

[0067] Preferably, in step S4, the predetermined condition is as shown in formula 7);

[0068] ΔX ≤ K and ΔY ≤ K 7);

[0069] Among them, K represents the set deviation threshold;

[0070] Among them, by setting the threshold, it is possible to give the offset of the container edge a margin of movement. That is, only when the offset exceeds the deviation threshold will the edge adjust its position, avoiding random adjustment of the edge from affecting the unloading work.

[0071] Preferably, the value range of the deviation threshold K is from 30 mm to 60 mm. In the implementation of this application, the deviation threshold K can be from 40 mm (millimeters) to 50 mm (millimeters), such as 45 mm, 50 mm.

[0072] Among them, when ΔX ≤ K and ΔY ≤ K, the position of the boom is not adjusted, that is, the boom does not move. When ΔX ≤ K or ΔY ≤ K, the host controller controls the power-on status of the pitch hydraulic valve C1, pitch hydraulic valve C2, telescopic hydraulic valve C3, and telescopic hydraulic valve C4, so that the boom performs telescopic and pitch movements. That is, the pitch hydraulic valve C1 and pitch hydraulic valve C2 can control the pitch angle of the boom, while the telescopic hydraulic valve C3 and telescopic hydraulic valve C4 can control the telescopic length of the boom. Until the container edge meets ΔX ≤ K and ΔY ≤ K under the drive and adjustment of the boom, return to step S2 to continue the edge correction of the next cycle.

[0073] The selected deviation threshold K in the embodiment of this application can ensure smooth unloading without spilling goods, and at the same time can avoid adjusting the edge position multiple times.

[0074] Preferably, in step S4, when it is determined that the container edge does not meet the predetermined condition, it is necessary to adjust by boom telescoping and pitching. The way the boom adjusts according to the change amount of the container edge is as follows:

[0075] The first step is to obtain the change amount L of the container edge in the horizontal direction ΔX and the change amount L of the container edge in the vertical direction ΔY , as shown in formula 8) and formula 9);

[0076]

[0077]

[0078] Among them, γ represents the initial included angle between the edge K3 of the container material and the center line K1 of the spreader; β represents the current rotation angle of the spreader; both L3 and H5 represent constants;

[0079] In the embodiments of the present application, the following definitions are made. As Figure 2 shown, the change amount L of the container material edge in the horizontal direction ΔX is positive to the right and negative to the left; the change amount L of the container material edge in the vertical direction ΔY is positive downward and negative upward;

[0080] The second step is to calculate the target length L 1-1 and the target angle α 1-1 , as shown in Formula 10) and Formula 11);

[0081]

[0082]

[0083] Among them, L0 represents the initial length of the boom; α0 represents the initial pitch angle of the boom relative to the horizontal plane;

[0084] The third step is to adjust the current boom towards the target length and the target angle. That is, the second defined end 10b on the boom can be used as the moving point for adjustment. Under the telescopic and pitching of the boom, this moving point can be adjusted in the vertical and horizontal directions. For example:

[0085] If the current actual length of the current boom is less than the target length, the host controller controls the telescopic hydraulic valve C3 to work through an external PLC, so that the boom extends. Conversely, if the current actual length of the current boom is greater than the target length, the host controller controls the telescopic hydraulic valve C4 to work through an external PLC, so that the boom shortens;

[0086] If the current actual pitch angle of the current boom is less than the target angle, the host controller controls the telescopic hydraulic valve C1 to work through an external PLC, so that the boom lifts. Conversely, if the current actual pitch angle of the current boom is greater than the target angle, the host controller controls the telescopic hydraulic valve C21 to work through an external PLC, so that the boom pitches down.

[0087] As Figure 3As shown, the embodiments of the present application also disclose a linkage control system for the front jib and the spreader. The linkage control system can implement the linkage control method of the reach stacker. The linkage control system includes a host controller, a boom pitch angle sensor, a boom length sensor, a spreader controller, and a spreader tilt angle sensor;

[0088] The host controller can control the boom and the spreader to work. Among them, the host controller is the core of the control system, used to collect the signals of each sensor, communicate with the spreader controller, implement the control strategy, and output to control each hydraulic valve, thereby controlling the boom movement.

[0089] The boom pitch angle sensor is connected to the host controller and is used to collect the pitch angle of the boom;

[0090] The boom length sensor is connected to the host controller and is used to collect the telescopic length of the boom;

[0091] The spreader controller is connected to the host controller. The host controller controls the spreader to work through the spreader controller. Among them, the spreader controller is used to detect the signals of each sensor on the spreader, process the operation signals of the remote control, communicate with the host controller, and control the spreader movement;

[0092] The spreader tilt angle sensor is connected to the spreader controller and is used to collect the rotation angle of the spreader.

[0093] Among them, the linkage control system of the embodiments of the present application adopts the CAN bus communication method. CAN1H represents the high-level signal line on the CAN1 bus, and CAN1L represents the low-level signal line on the CAN1 bus. CAN2H represents the high-level signal line on the CAN2 bus, and CAN2L represents the low-level signal line on the CAN2 bus.

[0094] Among them, the control system of the embodiments of the present application further includes a remote control receiver. The remote control receiver is connected to the spreader controller. The remote control receiver is used to receive external remote control signals. The external remote control operation terminal can communicate with the remote control receiver, and remote control of the spreader can be realized.

[0095] Preferably, the control system of the embodiments of the present application further includes a boom operation handle; the boom operation handle is connected to the host controller; among them, by pushing the boom operation handle forward and backward, a pitch command for the boom is issued, and by pushing it left and right, a telescopic command for the spreader frame is issued.

[0096] As described above, this is only the specific implementation manner of the present application. Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, modules, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein. It should be understood that the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present application.

Claims

1. A method for interlocking control of a reachstacker, characterized in that, Including: Step S1: Calculate the initial position of the container edge, where the initial position of the container edge includes a horizontal initial position and a vertical initial position; Step S2: Calculate the real-time position of the container edge, where the real-time position of the container edge includes a horizontal real-time position and a vertical real-time position; Step S3: Calculate the horizontal deviation between the horizontal real-time position and the horizontal initial position of the container edge, and calculate the vertical deviation between the vertical real-time position and the vertical initial position of the container edge; Step S4: Determine whether the horizontal deviation and the vertical deviation meet the predetermined conditions. If they meet, the boom does not move, and the spreader drives the container to unload. If they do not meet, the boom is adjusted according to the change amount of the container edge until the predetermined conditions are met, and then return to Step S2.

2. The front loader linkage control method according to claim 1, wherein In the said Step S1, the horizontal initial position of the container edge is shown in Equation (1), and the vertical initial position of the container edge is shown in Equation (2); L Y0 = L0·sinα0 + H2 - L2·cosα0 - H4 2); Among them, L X0 represents the horizontal initial position of the edge of the container; L Y0 represents the vertical initial position of the edge of the container; L0 represents the initial length of the boom; α0 represents the initial pitching angle of the boom relative to the horizontal plane; γ represents the initial angle between the initial position of the edge of the container and the center line of the spreader; β represents the current rotation angle of the spreader; L2, L3, H2, H4, and H5 all represent constants.

3. The front loader linkage control method according to claim 2, wherein The said γ is shown in Equation (1.1); 4. The gantry crane linkage control method according to any one of claims 1 to 3, characterized in that, In the said Step S2, the horizontal real-time position of the container edge is shown in Equation (3), and the vertical real-time position of the container edge is shown in Equation (4); L Y = L1·sinα1 + H2 - L2·cosα1 - H4 4); Among them, L X represents the horizontal real-time position of the edge of the container; L Y represents the vertical real-time position of the edge of the container; L1 represents the telescopic length of the current boom; α1 represents the pitching angle of the current boom relative to the horizontal plane; γ represents the initial angle between the edge of the container and the center line of the spreader; β represents the current rotation angle of the spreader; L2, L3, H2, H4, and H5 all represent constants.

5. The front loader linkage control method according to claim 4, characterized in that In the said Step S3, the horizontal deviation of the container edge is shown in Equation (5), and the vertical deviation of the container edge is shown in Equation (6); ΔX = |L X -L X0 | 5); ΔY = |L Y - L Y0 | 6); Among them, ΔX represents the horizontal deviation of the container edge; ΔY represents the vertical deviation of the container edge; L X represents the horizontal real-time position of the container edge; L X0 represents the horizontal initial position of the container edge; L Y represents the vertical real-time position of the container edge; L Y0 represents the vertical initial position of the container edge.

6. The front loader linkage control method according to claim 5, wherein In the said Step S4, the said predetermined conditions are shown in Equation (7); ΔX ≤ K and ΔY ≤ K (7); Wherein, K represents the set deviation threshold.

7. The front loader linkage control method according to claim 1, wherein In the said Step S4, the way that the boom is adjusted according to the change amount of the container edge is as follows: First step, obtain the horizontal change amount L of the container edge ΔX and the vertical change amount L of the container edge ΔY , as shown in Equation (8) and Equation (9); Wherein, γ represents the initial angle between the initial position of the container edge and the center line of the spreader; β represents the current rotation angle of the spreader; both L3 and H5 represent constants; Step 2: Calculate the target length L of the boom 1-1 and the target angle α 1-1 , as shown in Equations (10) and (11); Wherein, L0 represents the initial length of the boom; α0 represents the initial pitch angle of the boom relative to the horizontal plane; Third step, the current boom is adjusted towards the target length and target angle.

8. A reachstacker linkage control system adopts the reachstacker linkage control method described in any one of claims 1 to 7, characterized in that, The control system includes a host controller, a boom pitch angle sensor, a boom length sensor, a spreader controller, and a spreader inclination sensor; The said host controller can control the operation of the boom and the spreader; The said boom pitch angle sensor is connected to the host controller for collecting the pitch angle of the boom; The said boom length sensor is connected to the host controller for collecting the telescopic length of the boom; The said spreader controller is connected to the host controller, and the host controller controls the operation of the spreader through the said spreader controller; The said spreader inclination sensor is connected to the spreader controller for collecting the rotation angle of the spreader.

9. The gantry crane linkage control system according to claim 8, characterized in that The control system further includes a remote control receiver, and the remote control receiver is connected to the spreader controller, and the remote control receiver is used for receiving external remote control signals.

10. The reachstacker linkage control system according to claim 8 or 9, characterized in that, The said control system further includes a boom operation handle; the boom operation handle is connected to the host controller.

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