Intelligent control system and method for automatic wheel guidance of quay crane trolley

Abstract

An intelligent control system and method for automatic wheel guidance of a quay crane trolley, comprising: driving units (6) connected to wheels (2, 3, 4, 5) of a quay crane trolley (1) and used for controlling the guidance of the wheels (2, 3, 4, 5); displacement sensors (7) arranged on the driving units (6) and used for obtaining the displacements of the wheels (2, 3, 4, 5); distance measuring sensors (8) arranged on tracks (9) and positioned close to the proximal sides of the wheels (2, 3, 4, 5) and used for obtaining gaps between rims of the wheels (2, 3, 4, 5) and edges of the tracks (9); and an intelligent controller (10) used for reading the measured values of the displacement sensors (7) and the distance measuring sensors (8), so that the wheels (2, 3, 4, 5) undergo torsion for automatic deviation correction, the wheel orientation of the quay crane trolley (1) can be corrected in time, deviation and rail gnawing are avoided, and the problem of deviation of the quay crane trolley (1) is solved.

Description

An intelligent control system and method for automatic wheel steering of a quay crane vehicle Technical Field

[0001] The present invention relates to a container quay crane anti-deviation technology, and more particularly to an automatic wheel steering intelligent control system and method for a quay crane trolley. Background Art

[0002] Container quay crane trolleys operate on trolley tracks. Due to machining and installation errors, as well as initial positioning errors on the track, the trolley wheels can deviate from the track. This requires adjustment of the wheel guides, which involves a certain amount of manual maintenance. To prevent the trolley from seriously deviating, horizontal guide wheels are installed on the trolley frame to limit the distance the trolley wheels can deviate from the track. This rigid reliance on squeezing to correct the position of the wheel treads on the track increases the complexity of the trolley system's design and processing. This reliance on squeezing correction causes axial wheel displacement, increasing wear and reducing the life of the trolley wheels. During operation, the trolley can deviate again due to vibration and deformation, requiring on-site measurement and manual correction, resulting in a significant amount of debugging work. Technical issues

[0003] In view of the above-mentioned defects in the prior art, the purpose of the present invention is to provide an intelligent control system and method for automatic steering of the wheels of a quay crane trolley, which can timely correct the wheel direction of the quay crane trolley, avoid deviation and rail gnawing, and solve the problem of deviation of the quay crane trolley. Technical Solutions

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A first aspect of the present invention provides an intelligent control system for automatic wheel steering of a quay crane vehicle, comprising:

[0006] A drive unit connected to the wheels of the quay crane trolley to control the direction of the wheels;

[0007] a displacement sensor, provided on the driving unit, for obtaining the displacement of the wheel;

[0008] a distance measuring sensor, disposed on the track and close to the near side of the wheel, for obtaining a gap between the wheel rim and the edge of the track;

[0009] The intelligent controller is used to read the measurement values ​​of the displacement sensor and the distance sensor, so as to make the wheel twist and perform automatic deviation correction.

[0010] Preferably, the driving unit is a hydraulic cylinder or a servo electric cylinder.

[0011] Preferably, each wheel of the quay crane trolley is connected to a set of the driving unit.

[0012] The second aspect of the present invention provides an intelligent control method for automatic wheel steering of a quay crane vehicle, which uses the intelligent control system for automatic wheel steering of a quay crane vehicle provided by the first aspect of the present invention to realize automatic deviation correction of the quay crane vehicle.

[0013] Preferably, the automatic deviation correction of the quay crane trolley specifically includes:

[0014] obtaining the current displacement of the wheel through the displacement sensor;

[0015] Obtaining the gap between the wheel rim and the edge of the track by the distance measuring sensor;

[0016] The intelligent controller reads the measurement values ​​of the displacement sensor and the distance sensor. When the gap between the wheel rim and the edge of the track exceeds the minimum gap value set by the intelligent controller, the intelligent controller controls the drive unit to control the wheel torsion angle to increase the gap between the wheel rim and the edge of the track.

[0017] Preferably, a database is established according to the different orientations of each wheel of the quay crane trolley. Beneficial effects

[0018] The present invention provides an intelligent control system and method for automatic wheel steering of a quay crane trolley. This system can monitor the position of the wheel tread relative to the track in real time and control the wheel orientation based on the trolley's operating trends. It can also monitor and control the clearance between the inner wheel flange and the track edge in real time. Based on the trend of the clearance change during trolley operation, timely control actions are taken to correct the trolley's wheel orientation, preventing deviation and rail gnawing. With a single installation, this system permanently and automatically resolves any subsequent deviation issues, saving debugging time and the workload associated with manual correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] FIG1 is a schematic diagram of the on-site layout of the wheel automatic steering intelligent control system of the present invention. Best Mode for Carrying Out the Invention

[0020] In order to better understand the above technical solutions of the present invention, the technical solutions of the present invention are further described below with reference to the accompanying drawings and embodiments.

[0021] As shown in FIG1 , the present invention provides an automatic wheel steering intelligent control system for a quay crane vehicle. The existing quay crane vehicle 1 has four sets of wheels 2, 3, 4, and 5. The automatic wheel steering intelligent control system of the present invention includes:

[0022] The drive unit 6 has four sets, connected to the corresponding wheels 2, 3, 4, and 5 of the quay crane trolley 1, and is used to control the guidance of each wheel 2, 3, 4, and 5 within a certain range;

[0023] The displacement sensor 7 is provided on the drive unit 6 and is used to record and measure the displacement of the wheels 2, 3, 4, and 5;

[0024] The distance measuring sensor 8 is installed on the track 9 and close to the near side of the wheels 2, 3, 4, 5. It can measure the distance between the distance measuring sensor 8 and the track 9, and indirectly obtain the gap between the wheel flange of the wheel 2, 3, 4, 5 and the edge of the track 9 based on the installation position of the distance measuring sensor 8 relative to the wheels 2, 3, 4, 5;

[0025] The intelligent controller 10 is used to read the measurement values ​​of the displacement sensor 7 and the distance sensor 8, and to control the driving unit 6 to rotate the wheels 2, 3, 4, and 5 to perform automatic deviation correction of the quay crane trolley 1.

[0026] The driving unit 6 is a hydraulic cylinder or a servo electric cylinder.

[0027] The present invention also provides an intelligent control method for automatic wheel steering of a quay crane vehicle. The automatic wheel steering intelligent control system of the present invention is used to realize automatic deviation correction of the quay crane vehicle 1.

[0028] The automatic deviation correction of the quay crane trolley 1 specifically includes:

[0029] The current displacement of wheels 2, 3, 4, and 5 is obtained through displacement sensor 7;

[0030] The gaps between the wheel flanges of the wheels 2, 3, 4, 5 and the edge of the track 9 are obtained by the distance measuring sensor 8;

[0031] The intelligent controller 10 reads the measurement values ​​of the displacement sensor 7 and the distance sensor 8. When the gap between the wheel rims of the wheels 2, 3, 4, 5 and the edge of the track 9 exceeds the minimum gap value set by the intelligent controller 10, the intelligent controller 10 controls the drive unit 6 to control the wheels 2, 3, 4, 5 to twist an angle to increase the gap between the wheel rims of the wheels 2, 3, 4, 5 and the edge of the track 9 during the forward movement of the quay crane trolley 1.

[0032] The orientation of the quay crane trolley 1 is the result of the joint control of the four wheels 2, 3, 4, and 5. Initialization can measure the different orientations of the wheels 2, 3, 4, and 5 caused by different displacement values ​​and establish a database.

[0033] The wheel automatic steering intelligent control system of the present invention monitors whether the distance between the rails 9 changes through the distance measuring sensor 8.

[0034] The wheel automatic steering intelligent control system of the present invention can accurately control the gap between the wheel rims of wheels 2, 3, 4, and 5 and the edge of the track 9 through the guidance control of the intelligent controller 10. Therefore, the wheel automatic steering intelligent control system of the present invention can accurately control the position of the wheel surface on the overlapping working surface of the track, and can be deliberately averaged to avoid concentrated wear caused by concentrated use, thereby effectively extending the working life of the wheel.

[0035] The wheel automatic steering intelligent control system of the present invention records the position of the oil cylinder and can effectively establish a set of data through intelligent evaluation.

[0036] In summary, the wheel automatic steering intelligent control system of the present invention can even out the wear of the wheel tread, avoiding concentrated wear and premature scrapping; because of the good steering and positioning control, the trolley wheels can be made wider, the wheel treads can be evened out, and the life of the trolley wheels can be greatly extended; in program control, the trolley wheels are not allowed to jump off the track or fall off the vehicle, which increases accidental safety, and each control movement value is constrained; the total stroke of the cylinder is constrained; the laser total station can be used to obtain the system's initial normal value and deflection value matching system as a database call; in subsequent applications, the wheel automatic steering intelligent control system of the present invention can also continuously accumulate data and optimize and update the benchmark database.

[0037] Those skilled in the art should recognize that the above embodiments are merely intended to illustrate the present invention and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. An intelligent control system for automatic wheel guidance of a quay crane trolley, characterized in that, Comprising: A driving unit, connected to the wheels of the quay crane trolley, for controlling the steering of the wheels; A displacement sensor, arranged on the driving unit, for obtaining the displacement of the wheels; A ranging sensor, arranged on the track and close to the near side of the wheels, for obtaining the gap between the wheel flange of the wheels and the edge of the track; An intelligent controller, for reading the measured values of the displacement sensor and the ranging sensor, and making the wheels execute automatic deviation correction by twisting the bottom.

2. The automatic wheel guiding intelligent control system for the quay crane trolley according to claim 1, characterized in that: The driving unit is a hydraulic cylinder or a servo electric cylinder.

3. The automatic wheel guidance intelligent control system for the quay crane trolley according to claim 2, wherein: A set of the driving units is connected to each of the wheels of the quay crane trolley.

4. An intelligent control method for automatic wheel guidance of a quay crane trolley, characterized in that: The automatic deviation correction of the quay crane trolley is realized by using the automatic steering intelligent control system of the wheels of the quay crane trolley as described in any one of claims 1-3.

5. The automatic guiding intelligent control method for the wheels of the quay crane trolley according to claim 4, characterized in that, The automatic deviation correction of the quay crane trolley specifically includes: Obtaining the current displacement of the wheels through the displacement sensor; Obtaining the gap between the wheel flange of the wheels and the edge of the track through the ranging sensor; The intelligent controller reads the measured values of the displacement sensor and the ranging sensor. When the gap between the wheel flange of the wheels and the edge of the track exceeds the minimum gap value set by the intelligent controller, the intelligent controller controls the driving unit to control the twisting angle of the wheels to increase the gap between the wheel flange of the wheels and the edge of the track.

6. The automatic guiding intelligent control method for the wheels of the quay crane trolley according to claim 4, characterized in that: Establishing a database according to the different orientations of each of the wheels of the quay crane trolley.

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