CN105110193A - Precise positioning and automatic operating integrated system for electrolysis polar plate transport crown block - Google Patents
Precise positioning and automatic operating integrated system for electrolysis polar plate transport crown block Download PDFInfo
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- CN105110193A CN105110193A CN201510601959.5A CN201510601959A CN105110193A CN 105110193 A CN105110193 A CN 105110193A CN 201510601959 A CN201510601959 A CN 201510601959A CN 105110193 A CN105110193 A CN 105110193A
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Abstract
The invention discloses a precise positioning and automatic operating integrated system for an electrolysis polar plate transport crown block. The precise positioning and automatic operating integrated system comprises a workshop distributed control system, a wireless communication and transmission system, a crown block PLC control system, a cart laser ranging system, a trolley laser ranging system, a lift absolute value encoder position detection system and a polar plate position detecting, inducing and limiting device, wherein the wireless communication and transmission system comprises a first wireless transmission module mounted on the workshop distributed control system, a second wireless transmission module mounted on the crown block PLC control system and a third wireless transmission module mounted on the cart laser ranging system; the crown block PLC control system is connected with the trolley laser ranging system, the lift absolute value encoder position detection system and the polar plate position detecting inducing and limiting device; the workshop distributed control system comprises a crown block operation and failure monitoring subsystem, a production task management subsystem and a ground unit control subsystem.
Description
Technical field
The present invention relates to electrolytic negative/positive plate and move overhead traveling crane control field, more specifically, relate to a kind of electrolytic pole board carrying overhead traveling crane and accurately locate and automatically run integrated system.
Background technology
The smelting of modern copper, lead, zinc has an electrolytic refining process, its utilization passes into heavy DC electricity, electrolyte is utilized to transfer on minus plate by the crude metal on anode plate lower for purity through electrolysis, form the higher minus plate of purity, this technological condition and following characteristics is required to equipment:
Polar plate spacing is little, positioning accuracy request is high: because yin, yang pole plate is tight in the arrangement of electrolytic bath, consider the plate face pendency degree of minus plate, the thickness error of anode plate and burr etc., for preventing in groove the too small or contact in gap between anode and cathode, cause intereelectrode short-circuit, the horizontal coarse positioning accuracy requirement of crane used before entering locating cone is within ± 20mm, and after entering locating cone, final cathode and anode puts accuracy requirement for ± 2mm at electrolytic bath.
Production operation efficiency requires high: according to electrolysing period, single crane configuration, crane completes that distalmost end electric tank cathode (or anode) goes out, tankage production time need within 480s (for electrolytic copper).
Workshop condition is extremely severe: potroom, is high-intensity magnetic field, heavy acid mist environment, works long hours at high-intensity magnetic field radiation and heavy acid mist gaseous environment, can have an impact to human body health.
Therefore, exploitation can meet copper, lead, overhead traveling crane that the high efficiency fully automatic operation of zinc electrolysis workshop handling cathode-anode plate requires have the strong market demand, and the integrated artistic level of copper, lead, the industry of zinc nonferrous smelting can be promoted significantly, and improve production operation environment and the labour intensity of workman significantly.
The electrolytic pole board of fully automatic operation moves overhead traveling crane, and its key point is that the control system of overhead traveling crane is connected with the production task management system in workshop, the precise positioning of overhead traveling crane and the Systematical control that automatically runs.The precise positioning of overhead traveling crane comprises cart, dolly, hoist three directions, the i.e. location of X, Y, Z.
In overhead traveling crane precise positioning, the prior art that the locate mode of large dolly is current has: 1) coder location, comprises and use incremental and absolute value type coder; 2) the position encoded system of bar code or grid; 3) laser orientation system.The location hoisted generally uses absolute value encoder to locate.
In automatic operation control system, external import overhead traveling crane can realize carrying out data exchange interlocked control with ground unit and mutually coordinating, and the S. A. that overhead traveling crane can realize single working cycle in operator's compartment under the prerequisite of human assistance operation runs.
Existing electrolytic copper, lead, zinc field, cathode-anode plate moves overhead traveling crane, can realize basic automatic positioning requirements, but its reliability is not enough, and cannot realize full-automatic operation.Its subject matter is as follows:
1) cart horizontal direction location: adopt coder locate mode: because coder carries out high-speed pulse counting to the rotation of motor, tyre skidding and wheel wear all can produce considerable influence to positioning precision, so use coder locate mode to there is inadequate natural endowment, bar code or grid positions coding scheme, it installs comparatively complicated and Costco Wholesale is higher, generally adopt laser ranging system at present, but, still there is shortcoming in reliability and the accuracy rate of laser ranging, its major cause is: the projector of laser ranging system is installed in driving, because vehicle headway is distant, large about about 200-300 rice, driving unavoidably has the relatively travelling of horizontal and vertical direction in high-speed cruising process, after the rocking of light source generation certain angle of laser device, its light launched is through the distance of 100 meters, its deviation will be very large, thus can occur that laser can not be irradiated on reflecting plate once in a while, measurement data signals is caused to lose or produce comparatively big error.
2) vertical direction that hoists is located: the Z-direction perpendicular positioning of overhead traveling crane, general absolute value encoder, but due to the error of track installation, the camber of runway girder itself, the error that electrolytic bath is installed, these factors cause the horizontal surface of each slot number plate to have certain error, and when to there are the abnormal condition such as random groove due to hoist rope, the actual value and encoder data that cause lifting altitude are got muddled, the coordinate data of being demarcated by absolute value encoder cannot revise the impact of these factors, thus hoisting appears in occasional, position location is higher or on the low side causes situation about hooking up less than pole plate or gib head climax plate.
3) automatic process is run: existing overhead traveling crane can realize semiautomatic working, but All Jobs process all needs driver to complete in operator's compartment, do not develop overhead traveling crane production task management system or its system to be connected with the control system of overhead traveling crane, cannot realize full-automatic operation, overall operation efficiency is lower.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the present invention proposes a kind of electrolytic pole board carrying overhead traveling crane and accurately locates and automatically run integrated system.
Technical scheme of the present invention is:
A kind of electrolytic pole board carrying overhead traveling crane is accurately located and is automatically run integrated system, comprises workshop Distributed Control System, wireless communication transmission system, overhead traveling crane PLC control system, cart laser distance measuring system, dolly laser distance measuring system, hoist absolute value encoder position detecting system and polar plate position detection induction inhibiting device;
Described wireless communication transmission system comprises the first wireless transport module between installation car in Distributed Control System, is arranged on the second wireless transport module in overhead traveling crane PLC control system and is arranged on the 3rd wireless transport module on cart laser distance measuring system;
Described overhead traveling crane PLC control system detects with dolly laser distance measuring system, hoist absolute value encoder position detecting system and polar plate position respectively to be responded to inhibiting device and is connected;
Described workshop Distributed Control System comprises overhead traveling crane and runs and malfunction monitoring subsystem, production curves subsystem and ground unit allocation subsystem.
The electrolytic pole board carrying overhead traveling crane that technique scheme proposes accurately is located and is automatically run integrated system, by the production curves system integration to workshop Distributed Control System, there is production curves systemic-function, can production schedules be formulated and send to overhead traveling crane PLC control system by wireless transmission method.After overhead traveling crane PLC control system receives the production plan of production curves system transmission, perform according to the work flow order pre-established, the target location that overhead traveling crane will be followed according to each step, after calling the location coordinate of this target location, start large dolly laser distance measuring system respectively, hoist absolute value encoder and polar plate position detection induction inhibiting device.
The electrolytic pole board carrying overhead traveling crane that technique scheme proposes accurately is located and automatically run integrated system is overhead traveling crane PLC control system be connected with workshop Distributed Control System, cart laser distance measuring system by the mode of radio communication, run and fault monitoring system, production curves system and ground unit control system because workshop Distributed Control System is integrated with overhead traveling crane, the operating location information of overhead traveling crane, the action of each mechanism, limit signal can be monitored in real time; Show, record various alarm message, coaching device service personnel fast searches the source of trouble that equipment occurs accurately.Production scheduling personnel simultaneously, by production curves system formulates production schedules, specifically multiple work cycle can be set, specify the operation slot of each circulation number, homework type (" go out groove " or " tankage "), work pattern (going out tankage operation is veneer handling (only minus plate or only anode plate) or two plate handling (cathode-anode plate handling simultaneously)) production plan can distribute as required on overhead traveling crane at any time and perform, and in the Distributed Control System of workshop, the factory work logging of overhead traveling crane can be inquired about.Simultaneously the part that forms as workshop Distributed Control System of ground unit control system, can realize the operating condition of monitoring ground machine unit, failure message etc.
Integrated system of the present invention, hoist absolute value encoder and polar plate position of the vertical direction that hoists location employing detects induction inhibiting device and combines, automatic running velocity can adjust automatically according to the data of absolute value encoder, from target location more close to speed restriction slower, thus realize coarse positioning efficiently, then rely on pole plate induction inhibiting device to realize precise positioning.
Preferably, the laser signal projector of described cart laser distance measuring system is arranged on the cart orbital platform of workshop end, and reflecting plate is installed on overhead traveling crane, and its detection signal passes through wireless communication transmission system transfers to overhead traveling crane PLC control system.The signal projector of above-mentioned cart laser distance measuring system is installed on workshop terminal rail platform and fixes, can avoid owing to occurring when cart travels relatively travelling, thus avoid causing measurement data signals lose or produce comparatively big error, improve reliability and the accuracy of laser ranging.
Preferably, described polar plate position detection induction inhibiting device is arranged on the suspender of overhead traveling crane; Described polar plate position detects induction inhibiting device and comprises spacing fixed support, spacing tressel, the first limit induction chi and the second limit induction chi be arranged on spacing tressel, be arranged on the deceleration limiting device on spacing fixed support and stop limiting device, also comprises the insulcrete be arranged on bottom spacing tressel.
Preferably, described spacing tressel comprises base and is positioned at the first on base and parallel column and the second column; Described spacing fixed support comprises the first parallel support and the second support, and the first support is connected by crossbeam with the second support, and described crossbeam lower end is provided with parallel head rod and the second pipe link; First support and the second support are slidably socketed respectively on the first column and the second column; The length of described head rod is greater than the length of the second pipe link.
Preferably, described spacing fixed support and spacing tressel are hollow steel pipe.
Preferably, described insulcrete is arranged on the lower surface of the base of spacing tressel; First limit induction chi and the second limit induction chi are arranged on the upper surface of the base of spacing tressel; Deceleration limiting device and stopping limiting device installing the lower end of head rod and the second pipe link respectively.
Hoist the absolute value encoder in absolute value encoder position detecting system data input overhead traveling crane PLC control system after, overhead traveling crane PLC control system can calculate difference that is current and target location, thus optimal speed curve, the lifting of high efficiency smooth ground moves to target location, relies on polar plate position to detect induction inhibiting device and carry out location, accurate position when arriving polar plate position.
The principle that polar plate position detects induction inhibiting device spacing is: only have after the suspender of overhead traveling crane arrives the top of pole plate, pole plate contacts with the spacing tressel of inhibiting device, then continue to decline, pole plate is relied on to hold out against spacing tressel, until first and second limit induction chi be arranged on spacing tressel is when to sense on the spacing fixed support of inhibiting device spacing, lifting mechanism gets started and slows down and stop action.Add polar plate position to detect first and second induction position limiting ruler and can revise the coordinate data of absolute value encoder, overcome and occur hoisting that position location is higher or on the low side causes situation about hooking up less than pole plate or gib head climax plate once in a while.
Compared with prior art, beneficial effect of the present invention is: electrolytic pole board carrying overhead traveling crane of the present invention is accurately located operation integrated system automatically and first adopted Workshop Production job management system to dock with overhead traveling crane PLC control system, can realize Full automatic unmanned.Secondly, electrolytic pole board carrying overhead traveling crane is accurately located the cart laser distance measuring system automatically running integrated system and is installed on workshop fixation side, can avoid because rocking the error and labile factor that cause when overhead traveling crane is walked.Fine positioning control errors, within ± 5mm, exceeds ± the requirement of 20mm.Finally, this electrolytic pole board carrying overhead traveling crane is accurately located the locate mode hoisted automatically running integrated system and is adopted absolute value encoder to respond to spacing combining with pole plate, both ensure that efficiency, turn increased the accuracy of location, eliminate different slots horizontal position error factor.
Accompanying drawing explanation
Fig. 1 is system construction drawing of the present invention.
Fig. 2 is the spacing module of polar plate position detection induction is the spacing figure of application.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described, but embodiments of the present invention are not limited to this.
Integral Thought of the present invention is:
1) cart horizontal direction location, adopt laser ranging system, but its laser signal feedway is installed on the fixation side in workshop, its reflecting plate is installed on overhead traveling crane.The data of laser ranging signal by wireless device transmissions to overhead traveling crane PLC control system.
2) vertical direction that hoists location adopts absolute value encoder and pole plate induction inhibiting device to combine, automatic running velocity can adjust automatically according to the data of absolute value encoder, from target location more close to speed restriction slower, thus realize coarse positioning efficiently, then rely on pole plate induction inhibiting device to realize precise positioning.
3) develop the workshop Distributed Control System of electrolytic pole board carrying overhead traveling crane, comprise overhead traveling crane and run and fault monitoring system, production curves system and ground unit control system.Control cabin in workshop can rely on failure monitoring system to the running state monitoring of overhead traveling crane and trouble diagnosing; Rely on production curves system to carry out the job task management of overhead traveling crane, the automatic follow procedure setting of overhead traveling crane automatically performs; Rely on ground unit control system can coordinate the operation of ground machine unit and overhead traveling crane, finally realize the slitless connection safe and highly efficient operation of whole plant process.
As Fig. 1, a kind of electrolytic pole board carrying overhead traveling crane is accurately located and is automatically run integrated system, comprises workshop Distributed Control System 1, wireless communication transmission system, overhead traveling crane PLC control system 7, cart laser distance measuring system 9, dolly laser distance measuring system 10, hoist absolute value encoder position detecting system 11 and polar plate position detection induction inhibiting device 12;
The 3rd wireless transport module 8 that described wireless communication transmission system comprises the first wireless transport module 5 between installation car in Distributed Control System 1, is arranged on the second wireless transport module 6 in overhead traveling crane PLC control system 7 and is arranged on cart laser distance measuring system 9;
Described overhead traveling crane PLC control system 7 detects with dolly laser distance measuring system 10, hoist absolute value encoder position detecting system 11 and polar plate position respectively to be responded to inhibiting device 12 and is connected;
Described workshop Distributed Control System 1 comprises overhead traveling crane and runs and malfunction monitoring subsystem 2, production curves subsystem 3 and ground unit allocation subsystem 4.
The electrolytic pole board carrying overhead traveling crane that technique scheme proposes accurately is located and is automatically run integrated system, by the production curves system integration to workshop Distributed Control System, there is production curves systemic-function, can production schedules be formulated and send to overhead traveling crane PLC control system by wireless transmission method.After overhead traveling crane PLC control system receives the production plan of production curves system transmission, perform according to the work flow order pre-established, the target location that overhead traveling crane will be followed according to each step, after calling the location coordinate of this target location, start large dolly laser distance measuring system respectively, hoist absolute value encoder position detecting system and polar plate position detection induction inhibiting device.
The electrolytic pole board carrying overhead traveling crane that technique scheme proposes accurately is located and automatically run integrated system is workshop Distributed Control System be connected with overhead traveling crane PLC control system, cart laser distance measuring system by the mode of radio communication, comprises overhead traveling crane run and fault monitoring system, production curves system and ground unit control system because workshop Distributed Control System is integrated.
In the present embodiment, in the Central Control Room of workshop, be configured with a High Performance industrial computer, it is the core component units of workshop Distributed Control System (DCS), industrial computer is installed WICC upper computer configuration software, the operating location information of overhead traveling crane, the action of each mechanism, limit signal can be monitored in real time; Show, record various alarm message, coaching device service personnel fast searches the source of trouble that equipment occurs accurately.Production scheduling personnel simultaneously, by production curves system formulates production schedules, specifically multiple work cycle can be set, specify the operation slot of each circulation number, homework type (" go out groove " or " tankage "), work pattern (going out tankage operation is veneer handling (only minus plate or only anode plate) or two plate handling (cathode-anode plate handling simultaneously)) production plan can distribute as required on overhead traveling crane at any time and perform, and in the Distributed Control System of workshop, the factory work logging of overhead traveling crane can be inquired about.Simultaneously the part that forms as workshop Distributed Control System of ground unit control system, can realize the operating condition of monitoring ground machine unit, failure message etc.
Overhead traveling crane PLC control system receives production task, and starts operation by preset time and flow process.Such as first work cycle is that two plates of A groove go out groove operation, first overhead traveling crane reads the coordinate data of A slot, comprise X, Y, the data value in Z tri-directions, then the laser distance measuring system of large dolly is started, cart laser distance measuring system by transmission of wireless signals to overhead traveling crane PLC control system, dolly laser distance measuring system is by communication bus access overhead traveling crane PLC control system, overhead traveling crane PLC control system compares the coordinate data of current location and target groove through program, according to specific kinematic velocity curve, automatically target coordinate position is moved to, if its current goal alternate position spike is greater than ± 5mm, it adjusts to ± 5mm within, meet the demands and then continue to perform next step, overhead traveling crane PLC control system compares currency and the expected value of the absolute value encoder of lifting mechanism, according to specific kinematic velocity curve, when lifting mechanism drops to from object height close positions, reduce speed now and stop action, after overhead traveling crane PLC control system receives this limit signal, control lifting mechanism to be decelerated to preset value, then after sensing " stopping " spacing action, lifting mechanism stops action.The anode and cathode suspension hook of suspender starts action, and after suspension hook clamping pole plate puts in place, lifting mechanism rises to upper limit automatically, and liquid dish closes automatically.Overhead traveling crane PLC control system reads the position coordinate of cathode stripping machine structure group automatically, large trolley travelling presses specific speed curve motion to its target location, overhead traveling crane PLC control system reads cathode stripping machine structure group job state automatically, as its do not complete a upper work cycle then overhead traveling crane wait for that its operation carries out next step after complete again, if cathode stripping machine structure group is idle condition, then suspender lifting mechanism transferred automatically by overhead traveling crane, until pole plate induction spacing send "signal for " stop " time, negative electrode suspension hook is opened, after loosening minus plate, automatic lifting is to upper limit, continue to press foregoing schemes, arrive anode cleaning unit, put down anode plate, hoist and rise to upper limit, then complete first job circulation, enter second working cycle.
In the present embodiment, the laser signal projector of described cart laser distance measuring system 9 is arranged on the cart orbital platform of workshop end, and reflecting plate is installed on overhead traveling crane, and its detection signal passes through wireless communication transmission system transfers to overhead traveling crane PLC control system 7.Above-mentioned cart laser distance measuring system is arranged on workshop end, can avoid owing to occurring when cart travels relatively travelling, thus avoids causing measurement data signals lose or produce comparatively big error, improves reliability and the accuracy of laser ranging.
As Fig. 2, in the present embodiment, described polar plate position detection induction inhibiting device 12 is arranged on the suspender of overhead traveling crane; Described polar plate position detects induction inhibiting device 12 and comprises spacing fixed support 101, spacing tressel 102, the first limit induction chi 103 and the second limit induction chi 104 be arranged on spacing tressel 102, be arranged on the deceleration limiting device 105 on spacing fixed support 101 and stop limiting device 106, also comprises the insulcrete 107 be arranged on bottom spacing tressel 102.
Described spacing tressel 102 comprises base and is positioned at the first on base and parallel column and the second column; Described spacing fixed support 101 comprises the first parallel support and the second support, and the first support is connected by crossbeam with the second support, and described crossbeam lower end is provided with parallel head rod and the second pipe link; First support and the second support are slidably socketed respectively on the first column and the second column; The length of described head rod is greater than the length of the second pipe link; Spacing fixed support 101 and spacing tressel 102 are hollow steel pipe.Described insulcrete 107 is arranged on the lower surface of the base of spacing tressel 102; First limit induction chi 103 and the second limit induction chi 104 are arranged on the upper surface of the base of spacing tressel 102; Deceleration limiting device 105 and stopping limiting device 106 install the lower end of head rod and the second pipe link respectively.
Hoist the absolute value encoder in absolute value encoder position detecting system data input overhead traveling crane PLC control system after, overhead traveling crane PLC control system can calculate difference that is current and target location, thus optimal speed curve, the lifting of high efficiency smooth ground moves to target location, relies on polar plate position to detect induction inhibiting device and carry out location, accurate position when arriving polar plate position.
The principle that polar plate position detects induction inhibiting device spacing is: only have after the suspender of overhead traveling crane arrives the top of pole plate, pole plate contacts with the spacing tressel of inhibiting device, then continue to decline, pole plate is relied on to hold out against spacing tressel, until first and second limit induction chi be arranged on spacing tressel is when to sense on the spacing fixed support of inhibiting device spacing, lifting mechanism gets started and slows down and stop action.Add polar plate position to detect first and second induction position limiting ruler and can revise the coordinate data of absolute value encoder, overcome and occur hoisting that position location is higher or on the low side causes situation about hooking up less than pole plate or gib head climax plate once in a while.
Compared with prior art, beneficial effect of the present invention is: electrolytic pole board carrying overhead traveling crane of the present invention is accurately located automatic running and first adopted Workshop Production job management system to dock with overhead traveling crane PLC control system, can realize Full automatic unmanned.Secondly, the cart laser distance measuring system that automatic running accurately located by this electrolytic pole board carrying overhead traveling crane is installed on workshop fixation side, can avoid because rocking the error and labile factor that cause when overhead traveling crane is walked.Fine positioning control errors, within ± 5mm, exceeds ± the requirement of 20mm.Finally, the locate mode hoisted that automatic running accurately located by this electrolytic pole board carrying overhead traveling crane adopts absolute value encoder to respond to spacing combining with pole plate, both ensure that efficiency, turn increased the accuracy of location, eliminate different slots horizontal position error factor.
Above-described embodiments of the present invention, do not form limiting the scope of the present invention.Any amendment done within spiritual principles of the present invention, equivalent replacement and improvement etc., all should be included within claims of the present invention.
Claims (6)
1. an electrolytic pole board carrying overhead traveling crane is accurately located and is automatically run integrated system, it is characterized in that, comprise workshop Distributed Control System (1), wireless communication transmission system, overhead traveling crane PLC control system (7), cart laser distance measuring system (9), dolly laser distance measuring system (10), hoist absolute value encoder position detecting system (11) and polar plate position detection induction inhibiting device (12);
Described wireless communication transmission system comprises the first wireless transport module (5) in Distributed Control System between installation car (1), is arranged on the second wireless transport module (6) in overhead traveling crane PLC control system (7) and is arranged on the 3rd wireless transport module (8) on cart laser distance measuring system (9);
Described overhead traveling crane PLC control system (7) is detected with dolly laser distance measuring system (10), hoist absolute value encoder position detecting system (11) and polar plate position respectively and is responded to inhibiting device (12) and be connected;
Described workshop Distributed Control System (1) comprises overhead traveling crane and runs and malfunction monitoring subsystem (2), production curves subsystem (3) and ground unit allocation subsystem (4).
2. electrolytic pole board carrying overhead traveling crane according to claim 1 is accurately located and is automatically run integrated system, it is characterized in that, the laser signal projector of described cart laser distance measuring system (9) is arranged on the cart orbital platform of workshop end, reflecting plate is installed on overhead traveling crane, and its detection signal passes through wireless communication transmission system transfers to overhead traveling crane PLC control system (7).
3. electrolytic pole board carrying overhead traveling crane according to claim 1 is accurately located and is automatically run integrated system, and it is characterized in that, described polar plate position detects induction inhibiting device (12) and is arranged on the suspender of overhead traveling crane; Described polar plate position detects induction inhibiting device (12) and comprises spacing fixed support (101), spacing tressel (102), the first limit induction chi (103) and the second limit induction chi (104) be arranged on spacing tressel (102), be arranged on the deceleration limiting device (105) on spacing fixed support (101) and stop limiting device (106), also comprises the insulcrete (107) being arranged on spacing tressel (102) bottom.
4. want the electrolytic pole board described in 3 to carry overhead traveling crane according to right accurately to locate and automatically run integrated system, it is characterized in that, described spacing tressel (102) comprises base and is positioned at the first on base and parallel column and the second column; Described spacing fixed support (101) comprises the first parallel support and the second support, and the first support is connected by crossbeam with the second support, and described crossbeam lower end is provided with parallel head rod and the second pipe link; First support and the second support are slidably socketed respectively on the first column and the second column; The length of described head rod is greater than the length of the second pipe link.
5. want the carrying of the electrolytic pole board described in 4 overhead traveling crane accurately to locate according to right and automatically run integrated system, it is characterized in that, described spacing fixed support (101) and spacing tressel (102) are hollow steel pipe.
6. want the carrying of the electrolytic pole board described in 4 overhead traveling crane accurately to locate according to right and automatically run integrated system, it is characterized in that, described insulcrete (107) is arranged on the lower surface of the base of spacing tressel (102); First limit induction chi (103) and the second limit induction chi (104) are arranged on the upper surface of the base of spacing tressel (102); The lower end of head rod and the second pipe link is installed in deceleration limiting device (105) and stopping limiting device (106) respectively.
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| CN107064951A (en) * | 2017-04-01 | 2017-08-18 | 中南大学 | A kind of potroom location information management and ranging data processing method |
| CN109626217A (en) * | 2018-11-15 | 2019-04-16 | 东莞长盈精密技术有限公司 | Overhead traveling crane control method and day vehicle control |
| CN109368503A (en) * | 2018-12-14 | 2019-02-22 | 天津港太平洋国际集装箱码头有限公司 | Field bridge handling operation remote control operation system |
| CN109502482A (en) * | 2018-12-14 | 2019-03-22 | 江阴弘远新能源科技有限公司 | A kind of driving system with automatic positioning function |
| CN110540136A (en) * | 2019-09-16 | 2019-12-06 | 中南大学 | Bridge crane cart position detection method, device, equipment and storage medium |
| CN111302223A (en) * | 2020-02-26 | 2020-06-19 | 西南交通大学 | Method, device and system for aligning container by using lifting appliance |
| CN111679628A (en) * | 2020-07-14 | 2020-09-18 | 华业金属表面处理(五莲)有限公司 | Intelligent control system |
| CN114044441A (en) * | 2021-11-10 | 2022-02-15 | 济南伟浩冶金机械有限公司 | Crystallizer copper pipe processing water line transportation overhead traveling crane system |
| CN114314351A (en) * | 2021-12-17 | 2022-04-12 | 同济大学 | Intelligent positioning method based on traditional traveling crane |
| CN114348511A (en) * | 2021-12-27 | 2022-04-15 | 科捷智能科技股份有限公司 | In-place detection and control method for conveying device |
| CN114348511B (en) * | 2021-12-27 | 2023-11-17 | 科捷智能科技股份有限公司 | In-place detection and control method for conveying device |
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