Method for dynamically adjusting running speed of rail type portal crane

Abstract

The invention provides a method for dynamically adjusting the running speed of a rail-mounted gantry crane, and relates to the technical field of gantry cranes, an equipment control system ECS and a rail-mounted gantry crane stand-alone system are included, and the method further comprises the following steps that the equipment control system ECS distributes task instructions to the rail-mounted gantry crane stand-alone system, and an instruction receiving module of a rail-mounted gantry crane receives the task instructions. The method for dynamically adjusting the running speed of the rail-mounted gantry crane has the beneficial effects that the optimal speed of the operation can be accurately obtained through a real-time calculation mode, so that the running speed of a cart is adjusted, the overall working efficiency of the rail-mounted gantry crane is improved, the overall use effect is good, and the practicability is high.

Description

Technical Field

[0001] This invention relates to the field of gantry crane technology, and more specifically to a method for dynamically adjusting the running speed of a rail-mounted gantry crane. Background Technology

[0002] With the rapid development of the port and shipping industry and the continuous growth of container throughput, the operational efficiency of terminal yards has become a key factor affecting the overall efficiency of the logistics chain. Rail-mounted gantry cranes (GGs), as an important loading and unloading equipment, are widely used in many container terminals. The performance of the GG directly affects the efficiency of yard operations. The trolley mechanism of the GG, which is responsible for moving along the rails, has its operating speed as one of the key parameters determining the GG's operational efficiency. Increasing the trolley speed can significantly reduce the time required for the GG to move from one container position to another, thereby improving the continuity of operations and the overall operational efficiency of the yard.

[0003] However, the (maximum) operating speed of most rail-mounted gantry cranes is relatively fixed, making it difficult to flexibly adjust the speed according to task requirements during operation. This limits the improvement of yard operation efficiency, especially when tasks are busy and time is tight. Insufficient operating speed of rail-mounted gantry cranes often becomes one of the factors restricting yard operation efficiency.

[0004] To address the problem of fixed trolley speed in rail-mounted gantry cranes, which cannot be adjusted in a timely manner according to usage requirements and thus leads to low operating efficiency, a method for dynamically adjusting the operating speed of rail-mounted gantry cranes is proposed. Summary of the Invention

[0005] This invention addresses the problem of low operational efficiency caused by the fixed operating speed of rail-mounted gantry cranes, which cannot be adjusted in a timely manner according to usage requirements. It proposes a method for dynamically adjusting the operating speed of rail-mounted gantry cranes to solve the above-mentioned problems.

[0006] To achieve the above objectives, this invention proposes a method for dynamically adjusting the operating speed of a rail-mounted gantry crane, comprising an equipment control system (ECS) and a rail-mounted crane unit system, and further including the following steps: Step 1: The equipment control system ECS sends task instructions to the rail-mounted gantry crane system, and the instruction receiving module of the rail-mounted gantry crane receives the task instructions; Step 2: The rail-mounted crane operates at a speed Run the mission without load starting point; Step 3: When the rail-mounted crane arrives at the task location When the starting point, the lifting mechanism operates to grab the container, the trolley speed module of the single machine system combines the remaining distance of the track crane task completion, the task time constraint, the real-time wind speed, the track friction coefficient, the current load weight, the motor temperature, the battery remaining power and other parameters to calculate the best speed of the trolley of the track crane Step 4: judge whether it is equal to , if not, go to step 5; if yes, go to step 6; Step 5: the trolley speed module transmits the speed instruction, i.e. parameter to the track crane PLC, and the device PLC parameter is adjusted, so that the maximum speed of the device is changed from to ; Step 6: the track crane operates at the best speed , and after the track crane completes the operation, i.e. reaches the task target position, the lifting mechanism lowers the container, and the PLC feeds back the task completion to the trolley speed module and the device control system ECS; Step 7: the trolley speed module transmits the speed instruction, i.e. parameter to the track crane PLC; Step 8: the device PLC parameter is adjusted, so that the maximum speed of the device is changed from to , and the device returns to normal operation; In use, the optimal speed can be obtained through speed calculation, and then the trolley can be instructed in time, the running speed of the trolley can be improved, and the working efficiency of the track crane can be improved, so that the overall use effect is good and the practicality is strong.

[0007] Further, the device control system ECS includes a track crane operation module.

[0008] Further, the track crane single machine system includes an instruction receiving module, a trolley speed module and a PLC.

[0009] Further, the track crane includes a portal, a trolley running mechanism, a lifting trolley and an electric control assembly.

[0010] Further, the instruction receiving module adopts wireless transmission, so that the instruction receiving module can be installed conveniently.

[0011] Further, the instruction receiving module feeds back the number of instructions in real time, and there are at least two instructions in the instruction receiving module.

[0012] Further, the PLC adopts a modular PLC, so that the modular PLC can be replaced or new functions can be added.

[0013] ​Further, the trolley speed module comprises a speed measurement module and a speed adjustment module, the speed measurement module is used for speed measurement and calculation, and the speed adjustment module is used for adjusting the running speed of the trolley.

[0014] The beneficial effects of the present application are: The method can accurately obtain the optimal speed of the operation through real-time calculation, and then adjust the running speed of the trolley, thereby improving the overall working efficiency of the track crane and improving the overall use effect and practicality. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the present application, the drawings needed in the description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0016] Fig. 1 The present application is a track crane working process schematic diagram.

[0017] Fig. 2 The present application is a track crane system configuration schematic diagram. DETAILED DESCRIPTION

[0018] In order to make the purpose, features and advantages of the present application more obvious and easy to understand, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the specific embodiments. Obviously, the following described embodiments are only some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present patent, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present patent.

[0019] As Figs. 1-2 shown, in the present embodiment, the present application proposes a track type gantry crane running speed dynamic adjustment method, the track crane comprises a portal, a trolley running mechanism, a hoist trolley and an electric control assembly, including an equipment control system ECS and a track crane single machine system, the equipment control system ECS comprises a track crane operation module, the track crane single machine system comprises an instruction receiving module, a trolley speed module and a PLC, the instruction receiving module adopts wireless transmission, the instruction receiving module is transmitted wirelessly, so as to facilitate its installation, the PLC adopts a modular PLC, so as to facilitate its replacement or addition of new functions, the trolley speed module comprises a speed measurement module and a speed adjustment module, the speed measurement module is used for speed measurement and calculation, and the speed adjustment module is used for adjusting the running speed of the trolley, and further comprising the following steps: Step 1: the equipment control system ECS dispatches task instructions to the track crane single machine system, and the instruction receiving module of the track crane receives the task instructions; Step 2: The rail-mounted crane operates at a speed Run the mission without load starting point; Step 3: When the rail-mounted crane arrives at the task location At the start and when the hoisting mechanism is grabbing a container, the trolley speed module of the single-machine system calculates the optimal speed of the rail-mounted trolley by combining parameters such as the remaining distance to complete the task, task time constraints, real-time wind speed, rail friction coefficient, current load weight, motor temperature, and remaining battery power. ; Step 4: Determine Is it equal to If not, proceed to step 5; if yes, proceed to step 6. Step 5: The trolley speed module sends the speed command, i.e. The parameters are transmitted to the PLC of the rail-mounted crane. The PLC parameters are adjusted, and the maximum speed of the equipment is changed from... Change to ; Step 6: The rail-mounted crane operates at the optimal speed. Once the operation is completed, the rail-mounted gantry crane will reach the target position. When the lifting mechanism lowers the container, the PLC will send feedback on the completion of the task to the trolley speed module and the equipment control system ECS. Step 7: The trolley speed module sends the speed command, i.e. The parameters are transmitted to the PLC of the rail-mounted crane; Step 8: Adjust the equipment PLC parameters, setting the maximum speed of the equipment from... Change to It will be changed to normal operation. During use, the optimal speed can be determined through speed calculation, and instructions can be sent to the trolley in a timely manner to increase the trolley's running speed, thereby improving the working efficiency of the rail-mounted gantry crane. The overall effect is good and the practicality is strong.

[0020] Based on the above method for dynamically adjusting the operating speed of rail-mounted gantry cranes, the calculation formula for the operating speed of rail-mounted gantry cranes is explained: The standard formula for calculating the operating speed of a rail-mounted gantry crane is as follows:

[0021] The weights are dynamically adjusted. For example, at high wind speeds (W>8 m / s), the safety weight is increased to 0.5, and the task efficiency weight is reduced to 0.2. At low battery levels (B<30%), the energy consumption weight is increased to 0.4. The weight allocation function is as follows:

[0022] in, Factor base weights (preset values, such as task efficiency = 0.3, security = 0.4). Real-time scene coefficients (such as when wind speed exceeds the limit) =1.5).

[0023] The speed is calculated using the weighted geometric mean method, and the formula is as follows:

[0024] in, The theoretical maximum speed of the equipment; Standardized factor values; Dynamic weights .

[0025] An example is given based on the above-mentioned method for dynamically adjusting the operating speed of a rail-mounted gantry crane and the calculation formula for the operating speed of a rail-mounted crane:

[0026] The table above shows example parameters. When the remaining distance of the current task of ASC is 80 meters, the task time constraint is 40 seconds, the real-time wind speed at the dock is 10 m / s, the coefficient of friction of the track is 0.4, the current load weight of ASC is 25 tons, the motor temperature is 70℃, and the remaining battery power is 50%; Step 1: Adjust the weights. At this point, the wind speed exceeds the limit (W=10m / s), so the safety weight is increased to 0.5.

[0027]

[0028]

[0029] Step two: Calculate the working time at the fixed operating speed of the rail-mounted gantry crane. The gantry crane's main trolley speed is fixed at 3.6 m / s, using constant acceleration and deceleration time control. The acceleration and deceleration time remains constant, and the acceleration is 0.28 m / s. 2 The acceleration distance is 23.14 meters;

[0030]

[0031] Second Step 3: The weighted geometric average method is used to calculate the running speed of the rail gantry crane. Through real-time calculation, the optimal speed for this operation is found to be 3.8 m / s, and the running speed of the trolley is then adjusted accordingly.

[0032] Step four: The optimal speed calculated by the dynamic adjustment algorithm is 4.1 m / s. The constant acceleration and deceleration time control is also used, and the acceleration and deceleration time remains unchanged and consistent with the current speed. The speed is then adjusted.

[0033]

[0034]

[0035]

[0036]

[0037] Second In fixed speed mode, the task completion time is 35.09 seconds, while after adopting this method, the task completion time is 32.58 seconds, saving 2.51 seconds. In actual operation, the rail-mounted gantry crane needs to move and operate frequently. This reduction in time and energy consumption can significantly improve the overall operational efficiency of the terminal and reduce operating costs.

[0038] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for dynamically adjusting the running speed of a rail-mounted gantry crane, comprising an equipment control system (ECS) and a single-machine system for the rail-mounted crane, characterized in that, It also includes the following steps: Step 1: The equipment control system ECS sends task instructions to the rail-mounted gantry crane system, and the instruction receiving module of the rail-mounted gantry crane receives the task instructions; Step 2: The rail-mounted crane operates at a speed Run the mission without load starting point; Step 3: When the rail-mounted crane arrives at the task location At the start and when the hoisting mechanism is grabbing a container, the trolley speed module of the single-machine system calculates the optimal speed of the rail-mounted trolley by combining parameters such as the remaining distance to complete the task, task time constraints, real-time wind speed, rail friction coefficient, current load weight, motor temperature, and remaining battery power. ; Step 4: Determine Is it equal to If not, proceed to step 5; if yes, proceed to step 6. Step 5: The trolley speed module sends the speed command, i.e. The parameters are transmitted to the PLC of the rail-mounted crane. The PLC parameters are adjusted, and the maximum speed of the equipment is changed from... Change to ; Step 6: The rail-mounted crane operates at the optimal speed. Once the operation is completed, the rail-mounted gantry crane will reach the target position. When the lifting mechanism lowers the container, the PLC will send feedback on the completion of the task to the trolley speed module and the equipment control system ECS. Step 7: The trolley speed module sends the speed command, i.e. The parameters are transmitted to the PLC of the rail-mounted crane; Step 8: Adjust the equipment PLC parameters, setting the maximum speed of the equipment from... Change to It will be switched to normal operation.

2. The method for dynamically adjusting the running speed of a rail-mounted gantry crane according to claim 1, characterized in that, The equipment control system (ECS) includes a rail-mounted gantry crane operation module.

3. The method for dynamically adjusting the running speed of a rail-mounted gantry crane according to claim 1, characterized in that, The rail-mounted gantry crane single-unit system includes a command receiving module, a trolley speed module, and a PLC.

4. The method for dynamically adjusting the running speed of a rail-mounted gantry crane according to claim 1, characterized in that, A rail-mounted gantry crane includes a gantry, a trolley traveling mechanism, a lifting trolley, and electrical control components.

5. The method for dynamically adjusting the running speed of a rail-mounted gantry crane according to claim 3, characterized in that, The command receiving module uses wireless transmission.

6. The method for dynamically adjusting the running speed of a rail-mounted gantry crane according to claim 3, characterized in that, The instruction receiving module provides real-time feedback on the number of instructions, and there must be at least two instructions in the instruction receiving module.

7. The method for dynamically adjusting the running speed of a rail-mounted gantry crane according to claim 3, characterized in that, The PLC is a modular PLC.

8. The method for dynamically adjusting the running speed of a rail-mounted gantry crane according to claim 3, characterized in that, The speed module for large vehicles includes a speed measurement module and a speed control module.

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