CN103848346A - Optimal control device for stack transfer storing and taking operation of integrated crane - Google Patents
Optimal control device for stack transfer storing and taking operation of integrated crane Download PDFInfo
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- CN103848346A CN103848346A CN201410112630.8A CN201410112630A CN103848346A CN 103848346 A CN103848346 A CN 103848346A CN 201410112630 A CN201410112630 A CN 201410112630A CN 103848346 A CN103848346 A CN 103848346A
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Abstract
The invention discloses an optimal control device for stack transfer storing and taking operation of an integrated crane, and relates to a control device. The optimal control device for stack transfer storing and taking operation of the integrated crane comprises a PC (personal computer), a schedule optimization device, a wireless induction power supply, a crane, a torque sensing device, a PLC (programmable logic controller) computer, a digital frequency modulation wireless emitter and a digital frequency modulation wireless receiver, wherein the PC, the wireless induction power supply, a ground demodulator, the digital frequency modulation wireless emitter and the digital frequency modulation wireless receiver are all installed on the ground; the crane is erected on an overhead crossing frame; the PLC computer is arranged on a suspension arm; the torque sensing device is installed on the joined shaft of a lifting hook and the suspension arm of the crane; a strain measurement bridge circuit is positioned on the lower part of the torque sensing device; the lower part of the strain measurement bridge circuit is provided with a V/F conversion circuit. The device can be applied to steel coil warehouses of steel iron enterprises, integrates plate blank yards, wharf packaging storage yards, process industry production operation workshops and stack transfer and storing and taking operation, and is a comprehensive information control device which is high in precision, low in power consumption, and convenient to install integrally.
Description
Technical field
The present invention relates to a kind of automation equipment, particularly relate to a kind of optimal control equipment of integrated loop wheel machine collapse of setting access operation.
Background technology
Along with the adjustment of logistics self structure and the needs of industrial upgrading, competition between each enterprise reduces production costs and turns on reduction logistics cost from improvement technique gradually, and particularly management and scheduling large-scale to this class of loop wheel machine, valuable transportation device more and more cause gerentocratic attention.At present in relevant enterprise in the carrying of most warehouse and production system (as rear storehouse is rolled in storehouse, pot galvanize raw material storage, pickling raw material storage and acid after hot rolling in iron and steel enterprise; The stockyard of container terminal; Shipbuilding yard raw material storage etc.) loop wheel machine collapse of setting access operation process existing problems as follows:
In coil of strip warehouse, due to the requirement of memory technology, coiled sheet must be according to upper and lower two-tier stacking, in the time of downstream production or customer demand coiled sheet, being stored in demand coiled sheet that lower floor do not hinder by upper strata can directly be mentioned carrying by loop wheel machine and walk, otherwise, before lower floor's coiled sheet is transported, first other empty position to this region by collapse of setting of the coiled sheet of obstruction.
In container depot, according to freight container time of delivery from back to front, loop wheel machine rearranges successively according to order from top to bottom, makes shipment process can shorten wait time, rearranging is also the one of collapse of setting.
But, be difficult to consider loop wheel machine collapse of setting and access procedure simultaneously.Obviously, collapse of setting and access are associated.In current each enterprise, the multiclass space such as the loading of loop wheel machine to object, unloading, collapse of setting, stacking is moved scheduling and is conventionally carried out stage by stage with logistics time scheduling, be the space scheduling of first decision-making loop wheel machine to object shift position, then the time scheduling of the each mobile order of the location positioning loop wheel machine moving according to object.This two stage process makes loop wheel machine depend on to the time scheduling of object the space scheduling that object moves unduly, will there will be unreasonable even infeasible loop wheel machine to move scheme.Carry out stage by stage with time scheduling if loop wheel machine is moved to scheduling to the space of object, even if the route that loop wheel machine moves object is the shortest, often additionally increased the empty shifting time of loop wheel machine, thereby waste resource, increase traffic cost.
Summary of the invention
The object of the present invention is to provide a kind of optimal control equipment of integrated loop wheel machine collapse of setting access operation, this intelligent control device can carry out integrated to the operation of loop wheel machine collapse of setting and access operation, the one-step optimization loop wheel machine of going forward side by side scheduling, thereby shorten client's wait time, reduce Work in Process, reduce loop wheel machine energy consumption, material consumption and productive costs.
The object of the invention is to be achieved through the following technical solutions:
An optimal control equipment for integrated loop wheel machine collapse of setting access operation, described equipment comprises PC, optimizing scheduling device, wireless induction power supply, loop wheel machine, torque sensing device, PLC computing machine, frequency-shift keying formula wireless launcher, frequency-shift keying formula wireless receiver; Wherein PC, wireless induction power supply, ground demoder, frequency-shift keying formula wireless launcher, frequency-shift keying formula wireless receiver are installed on ground; Gantry is established skyborne across on frame, PLC computing machine is equipped with at its arm place, the suspension hook that torque sensing device is arranged on loop wheel machine is connected axle place with arm, strain measurement bridge road is positioned at torque sensing device bottom, the bottom on strain measurement bridge road is provided with V/F translation circuit, and frequency-shift keying circuit is positioned at a side of torque sensing device.
The optimal control equipment of described a kind of integrated loop wheel machine collapse of setting access operation, is equipped with optimizing scheduling device, frequency-shift keying formula wireless launcher and frequency-shift keying formula wireless receiver in described PC.
The optimal control equipment of described a kind of integrated loop wheel machine collapse of setting access operation, described torque sensing device comprises strain measurement bridge road, V/F translation circuit, frequency-shift keying circuit, ground demoder, waveform shaping circuit.
The optimal control equipment of described a kind of integrated loop wheel machine collapse of setting access operation, the bottom of described frequency-shift keying circuit is provided with waveform shaping circuit.
Advantage of the present invention and effect are:
The first, the present invention adopts strain-type torque sensor technology, and traditional torque measurement technology is improved, and utilizes V/F translation circuit that analog signal is directly converted to the square wave frequency signal that antijamming capability is stronger, gives subsequent transmission circuit and uses; A set of frequency-shift keying formula radio communication circuit that utilized MC2833 and the chip design of MC3362 RFDC, has realized measurement signal wireless transmission function.This transmission of wireless signals circuit has the good linearity, and error is little, precision is high, dependable performance, can meet the needs of torque sensor transmission of wireless signals function in measurement range.Second, the present invention uses wireless induction supply unit in movement, the torque sensor of seized condition carries out uninterrupted power supply, frequency-shift keying formula wireless transmitter is realized the real-time Transmission of loop wheel machine position signal, utilize optimizing scheduling device that the real time position of object is analyzed, processed, the object of locating while finally realizing high-precision real.The 3rd, the energy head of wireless induction power supply converts the high-frequency alternating electric energy of electromagnetic oscillation producer output to space alternating electromagnetism energy, adopt non-donut structure design, remove the restriction of the necessary concentric design of other wireless induction power supply antennas from, in realizing higher coupling efficiency, make installation and removal convenient.The 4th, the AC-DC regulator rectifier circuit of wireless induction power supply is to convert high the high-frequency ac that in Energy Coupling antenna, coupling the comes stream electric energy that forces down the device of direct current 5 V steady voltage sources to, utilize Switching Power Supply feedback self-compensation type Ripple Suppression technology, make the stability of the final output voltage of this power supply reach 1%, even if there are extraneous other electromagnetic interference, the mode that Voltage stabilizing module also can be released by excess energy, makes interfering signal inoperative, thereby ensures that output voltage is unaffected.
Brief description of the drawings
Fig. 1 is optimal control equipment structure combination schematic diagram of the present invention;
Fig. 2 is torque sensing device cross-sectional view.
Detailed description of the invention
Below in conjunction with accompanying drawing illustrated embodiment, the invention will be further described.
An optimal control equipment for integrated loop wheel machine collapse of setting access operation, comprises PC, optimizing scheduling device, wireless induction power supply, loop wheel machine, torque sensing device, PLC computing machine, frequency-shift keying formula wireless launcher, frequency-shift keying formula wireless receiver.Wherein, PC, wireless induction power supply, ground demoder, frequency-shift keying formula wireless launcher, frequency-shift keying formula wireless receiver is arranged on ground, and optimizing scheduling device is housed in PC, frequency-shift keying formula wireless launcher and frequency-shift keying formula wireless receiver.Gantry is established skyborne stepping up, and PLC computing machine is equipped with at arm place, and the suspension hook that torque sensing device is arranged on loop wheel machine is connected axle place with arm, torque sensing device comprises strain measurement bridge road, V/F translation circuit, frequency-shift keying circuit, ground demoder, waveform shaping circuit.Strain measurement bridge road is positioned at torque sensing device bottom, and the bottom on strain measurement bridge road is provided with V/F translation circuit, and frequency-shift keying circuit is positioned at a side of torque sensing device, in the bottom of frequency-shift keying circuit, waveform shaping circuit is installed.
In the present invention, PC passes to optimizing scheduling device by client's sequence information by frequency-shift keying formula wireless receiver, optimizing scheduling device requires information and target according to order, in conjunction with the situation utilized of particular location and the current loop wheel machine of current each alternative object, decision-making goes out the position of storing up of the order of object access and collapse of setting object, the scheme that will bear results completes receiving demodulation by ground demoder, send to the waveform shaping circuit in torque sensing device by frequency-shift keying formula wireless launcher again, through waveform shaping circuit, after shaping, send into the PLC of arm place Computer display, storage, process and location.The instruction of assigning according to PLC computing machine, loop wheel machine is in implementing the collapse of setting accessing operation process of diverse location object, powered to torque sensing device on axle by induction power supply unification, strain measurement bridge measurement goes out the strain signal being directly proportional to moment of torsion, after simulation is amplified, send into V/F translation circuit, become the square wave frequency signal that dutycycle does not wait, by launching after carrier frequency on frequency-shift keying circuit, complete receiving demodulation function by ground demoder, then send to the optimizing scheduling device of PC to carry out real-time dynamic monitoring by frequency-shift keying formula wireless receiver.
Embodiment 1:
Structural representation of the present invention as shown in Figure 1, comprise PC 1, wireless induction power supply 2, ground demoder 3, frequency-shift keying formula wireless launcher 4, frequency-shift keying formula wireless receiver 5, loop wheel machine 6, across 7, PLC computing machine 8, torque sensing device 9.Wherein torque sensing device 9 is made up of strain measurement bridge road 10, V/F translation circuit 11, frequency-shift keying circuit 12, waveform shaping circuit 13, and Fig. 2 is the cross-sectional view of torque sensing device 9.PC 1 passes to optimizing scheduling device by required client article information by frequency-shift keying formula wireless receiver 5, optimizing scheduling device is according to the situation utilized of the particular location of current each alternative object and current loop wheel machine, provide the position of storing up of the crawl order of the required object access of client and each collapse of setting object, the scheme that will bear results completes receiving demodulation by ground demoder 3 and shows by LED display, further send to the waveform shaping circuit 13 in torque sensing device 9 by frequency-shift keying formula wireless launcher 4, after waveform shaping circuit shaping, sending into the PLC of arm place computing machine 8 shows, as used respectively different colours to represent demand object, collapse of setting object and other objects, storage and instruction issuing.The dispatch command of assigning according to PLC computing machine 8, loop wheel machine 6 edges are across collapse of setting and the access implemented successively in 7 moving process diverse location object.The collapse of setting of loop wheel machine or accessing operation are powered to torque sensing device on axle 9 by wireless induction power supply 2 is unified, the strain signal being directly proportional to moment of torsion is measured on strain measurement bridge road 10, after simulation is amplified, send into V/F translation circuit 11, become the square wave frequency signal that dutycycle does not wait, by launching after carrier frequency on frequency-shift keying circuit 12, complete receiving demodulation function by ground demoder 3, send to the optimizing scheduling device of PC 1 to carry out real-time dynamic monitoring by frequency-shift keying formula wireless receiver 5 again, often complete collapse of setting or the access procedure of an object, the optimizing scheduling device of PC 1 shows the result of current partial scheduling by LED display.
In addition, in the time that the required object of client dynamically arrives, optimizing scheduling device is reintegrated location information and the current object location information not being crawled out of newly-increased each object, dispatch again, further decision-making also completes receiving demodulation by ground demoder 3, by frequency-shift keying formula wireless launcher 4 further for the torque sensing device 9 on loop wheel machine sends new instruction.
Claims (4)
1. the optimal control equipment of an integrated loop wheel machine collapse of setting access operation, it is characterized in that, described equipment comprises PC, optimizing scheduling device, wireless induction power supply, loop wheel machine, torque sensing device, PLC computing machine, frequency-shift keying formula wireless launcher, frequency-shift keying formula wireless receiver; Wherein PC, wireless induction power supply, ground demoder, frequency-shift keying formula wireless launcher, frequency-shift keying formula wireless receiver are installed on ground; Gantry is established skyborne across on frame, PLC computing machine is equipped with at its arm place, the suspension hook that torque sensing device is arranged on loop wheel machine is connected axle place with arm, strain measurement bridge road is positioned at torque sensing device bottom, the bottom on strain measurement bridge road is provided with V/F translation circuit, and frequency-shift keying circuit is positioned at a side of torque sensing device.
2. the optimal control equipment of a kind of integrated loop wheel machine collapse of setting access operation according to claim 1, is characterized in that, optimizing scheduling device, frequency-shift keying formula wireless launcher and frequency-shift keying formula wireless receiver are housed in described PC.
3. the optimal control equipment of a kind of integrated loop wheel machine collapse of setting access operation according to claim 1, is characterized in that, described torque sensing device comprises strain measurement bridge road, V/F translation circuit, frequency-shift keying circuit, ground demoder, waveform shaping circuit.
4. the optimal control equipment of a kind of integrated loop wheel machine collapse of setting access operation according to claim 1, is characterized in that, the bottom of described frequency-shift keying circuit is provided with waveform shaping circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410112630.8A CN103848346A (en) | 2014-03-25 | 2014-03-25 | Optimal control device for stack transfer storing and taking operation of integrated crane |
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| CN201410112630.8A CN103848346A (en) | 2014-03-25 | 2014-03-25 | Optimal control device for stack transfer storing and taking operation of integrated crane |
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| CN103848346A true CN103848346A (en) | 2014-06-11 |
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Citations (7)
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| CN101301982A (en) * | 2008-07-01 | 2008-11-12 | 上海振华港口机械（集团）股份有限公司 | Graphical display system and method for track type container crane job state |
| CN101687616A (en) * | 2007-04-19 | 2010-03-31 | 利勃海尔南兴有限公司 | Method for controlling a load-moving device and controller of a load-moving device |
| CN102092639A (en) * | 2010-12-08 | 2011-06-15 | 沈阳大学 | Intelligent control equipment for coordinating operation of cranes |
| CN101665216B (en) * | 2009-09-29 | 2012-02-08 | 三一集团有限公司 | Control method of move track of container crane, system and device |
| CN102381631A (en) * | 2011-09-16 | 2012-03-21 | 沈阳大学 | Intelligent positioning equipment connected between crane and transport vehicle |
| CN203079569U (en) * | 2013-03-04 | 2013-07-24 | 吴宇震 | Control system used for loading/unloading dry bulk |
| CN103466454A (en) * | 2013-09-27 | 2013-12-25 | 徐州重型机械有限公司 | Crane communication system |
-
2014
- 2014-03-25 CN CN201410112630.8A patent/CN103848346A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101687616A (en) * | 2007-04-19 | 2010-03-31 | 利勃海尔南兴有限公司 | Method for controlling a load-moving device and controller of a load-moving device |
| CN101301982A (en) * | 2008-07-01 | 2008-11-12 | 上海振华港口机械（集团）股份有限公司 | Graphical display system and method for track type container crane job state |
| CN101665216B (en) * | 2009-09-29 | 2012-02-08 | 三一集团有限公司 | Control method of move track of container crane, system and device |
| CN102092639A (en) * | 2010-12-08 | 2011-06-15 | 沈阳大学 | Intelligent control equipment for coordinating operation of cranes |
| CN102381631A (en) * | 2011-09-16 | 2012-03-21 | 沈阳大学 | Intelligent positioning equipment connected between crane and transport vehicle |
| CN203079569U (en) * | 2013-03-04 | 2013-07-24 | 吴宇震 | Control system used for loading/unloading dry bulk |
| CN103466454A (en) * | 2013-09-27 | 2013-12-25 | 徐州重型机械有限公司 | Crane communication system |
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Application publication date: 20140611 |