CN111924714A - Method for automatically finding coil and transversely centering electromagnetic chuck of full-automatic unmanned crane - Google Patents
Method for automatically finding coil and transversely centering electromagnetic chuck of full-automatic unmanned crane Download PDFInfo
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- CN111924714A CN111924714A CN202010685423.7A CN202010685423A CN111924714A CN 111924714 A CN111924714 A CN 111924714A CN 202010685423 A CN202010685423 A CN 202010685423A CN 111924714 A CN111924714 A CN 111924714A
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- sliding table
- electromagnetic chuck
- centering
- sensor
- unmanned crane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Automation & Control Theory (AREA)
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- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a method for automatically finding coils and transversely centering electromagnetic chucks of a full-automatic unmanned crane, which comprises the following steps: adjusting the initial position of the sliding table, and descending the electromagnetic chuck; recording the actual position of the sliding table; calculating the moving distance of the sliding table; calculating a deviation amount; adjusting the electromagnetic chuck; the method for automatically finding the coil and transversely centering the electromagnetic chuck of the full-automatic unmanned crane can automatically find the central position of the steel coil, thereby improving the accuracy and safety of hoisting and adapting to unmanned operation in special work environment.
Description
Technical Field
The invention relates to the field of mechanical engineering, in particular to a method for automatically finding coils and transversely centering electromagnetic chucks of a full-automatic unmanned crane.
Background
With the development of artificial intelligence and industrial control automation, the application of the fully automatic unmanned crane based on artificial intelligence in industrial production is increasing. When adopting unmanned full-automatic crane to carry out automatic handling coil of strip, the positioning accuracy of crane is much higher than artifical positioning accuracy, just so can guarantee that the hoist of crane accurately finds the coil of strip, can realize accurately finding the book through the method of seeking coil of strip core when full-automatic crane adopts clamp handling coil of strip.
Nowadays, along with complex production process, various product types are provided, and especially in an environment with small operation space, the conventional clamp cannot realize normal unmanned operation. The horizontal electromagnetic chuck does not need to occupy the space on two sides of the steel coil by adsorbing the surface of the steel coil, so that unmanned operation can be completed in a complex environment. However, when the full-automatic crane uses the horizontal electromagnetic chuck to hoist the steel coil, the method of seeking the coil core of the steel coil cannot be used for realizing accurate coil finding, and accordingly, the method of automatically finding coils and transversely centering when the full-automatic crane controls the horizontal electromagnetic chuck to hoist the steel coil is designed and invented.
Disclosure of Invention
In view of the above, in order to solve the problems in the prior art, the invention provides a method for automatically finding coils and transversely centering electromagnetic chucks of a full-automatic unmanned crane.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the utility model provides an automatic structure sketch map of looking for a roll horizontal centering device of full-automatic unmanned crane electromechanical magnetic chuck, includes linear slide rail, slip table, laser rangefinder sensor, servo device and servo controller, and the crossbeam of full-automatic unmanned crane electromechanical magnetic chuck is installed on linear slide rail, the slip table is installed respectively at linear slide rail both ends, laser rangefinder sensor includes left centering sensor and right centering sensor, installs respectively at linear slide rail both ends, servo device installs the crossbeam both sides respectively and is in, and the slip table is removed through servo controller received signal control, laser rangefinder sensor is used for detecting the acquisition distance of slip table.
A method for automatically finding coils and transversely centering electromagnetic chucks of a full-automatic unmanned crane comprises the following steps:
step 1, driving sliding tables on two sides of a linear sliding rail through a servo controller to move to initial positions, and recording the positions of the two sliding tables through a left centering sensor and a right centering sensor, namely a left sliding table initial position S0 and a right sliding table initial position S0'; meanwhile, the electromagnetic chuck is controlled by the unmanned crane to descend to a position 300mm above the steel coil;
step 2, detecting the change of the acquisition distance of the left sliding table and the right sliding table in real time through the sliding tables on the two sides of the linear sliding rail of the servo controller and the left centering sensor and the right centering sensor in the moving process, stopping moving when the left sliding table and the right sliding table move to the boundary position of the steel coil, and recording the actual positions of the left sliding table and the right sliding table, namely the position S1 of the left sliding table and the position S2 of the right sliding table;
step 3, calculating the movement distances of the left and right sliding blocks through the initial positions and the moved positions of the left and right sliding blocks, namely the movement distance SL of the left sliding table and the movement distance SR of the right sliding table;
step 4, calculating the deviation delta S between the transverse center of the electromagnetic chuck and the transverse center of the steel coil;
step 5, adjusting the direction and the distance of the electromagnetic chuck of the unmanned crane according to the numerical value of the deviation delta S;
and 6, driving the sliding tables at the two sides of the linear sliding rail through the servo controller to move to the initial position, and executing the steps 2 to 5 until the delta S is equal to 0.
Further, in step 3, the left and right slide table movement distances SL and SR are calculated by the following formulas:
SL＝S1-S0；SR＝S2-S0’
wherein, S0 is the initial position of the left sliding table, 0' is the initial position of the right sliding table, S1 is the position after the movement of the left sliding table, and S2 is the position after the movement of the right sliding table.
Further, in the step 4, the value of the deviation amount Δ S is calculated by the following formula:
ΔS＝(SL-SR)/2
compared with the prior art, the method for automatically finding coils and transversely centering the electromagnetic chuck of the full-automatic unmanned crane can improve the success rate of unmanned loading of a train, solve the problem of unbalanced loading of the train and improve the safety and reliability of unmanned operation of the iron-loaded steel coils.
Drawings
Fig. 1 is a schematic structural diagram of an automatic transverse coil-finding and centering device for an electromagnetic chuck of a full-automatic unmanned crane according to the invention.
Fig. 2 is a schematic flow chart of a method for automatically roll-finding and transversely centering electromagnetic chucks of a full-automatic unmanned crane according to the invention.
Fig. 3 is a working schematic diagram of the automatic coil-finding transverse centering device for the electromagnetic chuck of the full-automatic unmanned crane.
Detailed Description
The following description will further explain embodiments of the present invention by referring to the figures and the specific embodiments. It should be noted that the described embodiments are only some embodiments of the invention, and not all embodiments.
Example 1
As shown in fig. 1, the structural schematic diagram of the automatic roll finding and transverse centering device for the electromagnetic chuck of the full-automatic unmanned crane provided by the invention comprises a linear slide rail 3, a sliding table 7, a laser ranging sensor, a servo device 6 and a servo controller, wherein a cross beam 2 of the electromagnetic chuck 1 of the full-automatic unmanned crane is installed on the linear slide rail 3, the sliding table 7 is respectively installed at two ends of the linear slide rail 3, the laser ranging sensor comprises a left centering sensor 4 and a right centering sensor 5 which are respectively installed at two ends of the linear slide rail 3, the servo device 6 is respectively installed at two sides of the cross beam 2, and receives signals through the servo controller to control the sliding table 7 to move, and the laser ranging sensor is used for detecting the acquisition distance of the sliding table.
As shown in fig. 3, the automatic roll finding and transverse centering function is mainly realized by the acquisition distance judgment of signals of two laser ranging sensors and the stroke distance of the sliding table. Two slip tables remove the in-process about servo controller drive, and laser rangefinder sensor can pass through the end cross-section of below coil of strip both sides to there is the dynamic change process of individual acquisition distance, the controller can take notes current displacement when the signal changes, thereby calculates the actual center position of coil of strip.
As shown in fig. 2, a schematic flow chart of a method for automatically roll-up and transversely centering an electromagnetic chuck of a fully automatic unmanned crane according to the present invention includes the following steps:
step 1, driving sliding tables on two sides of a linear sliding rail through a servo controller to move to initial positions, and recording the positions of the two sliding tables through a left centering sensor and a right centering sensor, namely a left sliding table initial position S0 and a right sliding table initial position S0'; meanwhile, the electromagnetic chuck is controlled by the unmanned crane to descend to a position 300mm above the steel coil;
step 2, detecting the change of the acquisition distance of the left sliding table and the right sliding table in real time through the sliding tables on the two sides of the linear sliding rail of the servo controller and the left centering sensor and the right centering sensor in the moving process, stopping moving when the left sliding table and the right sliding table move to the boundary position of the steel coil, and recording the actual positions of the left sliding table and the right sliding table, namely the position S1 of the left sliding table and the position S2 of the right sliding table;
step 3, calculating the movement distances of the left and right sliding blocks through the initial positions and the moved positions of the left and right sliding blocks, namely the movement distance SL of the left sliding table and the movement distance SR of the right sliding table;
step 4, calculating the deviation delta S between the transverse center of the electromagnetic chuck and the transverse center of the steel coil;
step 5, adjusting the direction and the distance of the electromagnetic chuck of the unmanned crane according to the numerical value of the deviation delta S;
and 6, driving the sliding tables at the two sides of the linear sliding rail through the servo controller to move to the initial position, and executing the steps 2 to 5 until the delta S is equal to 0.
Preferably, in step 3, the left slide table movement distance SL and the right slide table movement distance SR are calculated by the following formulas:
SL＝S1-S0；SR＝S2-S0’
wherein, S0 is the initial position of the left sliding table, 0' is the initial position of the right sliding table, S1 is the position after the movement of the left sliding table, and S2 is the position after the movement of the right sliding table.
Preferably, in step 4, the value of the deviation amount Δ S is calculated by the following formula:
ΔS＝(SL-SR)/2
if the delta S is larger than 0, the unmanned crane is moved rightwards; and if the delta S is less than 0, moving the unmanned crane to the left.
The target position calculation of the full-automatic unmanned crane in the whole process is obtained by comprehensively calculating parameters such as the acquisition distance change of the laser ranging sensor, the width size of the steel coil, the moving strokes of the left sliding table and the right sliding table, the installation position of the laser ranging sensor and the like in the centering process.
The electromagnetic chuck of the full-automatic unmanned crane automatically finds the coil and selects the laser ranging sensor from the centering sensor in the transverse centering device, and the electromagnetic chuck can realize the centering function and can be used for bottom contact judgment in the process of electromagnetically lifting the steel coil.
The laser ranging sensor can detect the distance from the ground in real time in the steel coil lifting or closing process, and prevent safety risks caused by improper steel coils or abnormal periphery of the steel coils, so that the safety and the reliability of unmanned operation of the crane are improved.
In conclusion, according to the method for automatically finding coils and transversely centering the electromagnetic chuck of the full-automatic unmanned crane, the center position of the steel coil can be automatically found, so that the lifting accuracy and safety are improved, and the method can adapt to unmanned operation in special work environment.
Claims (4)
1. The utility model provides an automatic structure schematic diagram who looks for a roll horizontal centering device of full-automatic unmanned crane electromagnetic chuck, includes linear slide rail, slip table, laser range finding sensor, servo device and servo controller, and its characterized in that is installed on linear slide rail to full-automatic unmanned crane electromagnetic chuck's crossbeam: the laser ranging device comprises a linear slide rail, a servo device and a laser ranging sensor, wherein sliding tables are installed at two ends of the linear slide rail respectively, the laser ranging sensor comprises a left centering sensor and a right centering sensor and is installed at two ends of the linear slide rail respectively, two sides of a cross beam are installed on the servo device respectively, the servo device receives signals through the servo controller to control the sliding tables to move, and the laser ranging sensor is used for detecting the collecting distance of the sliding tables.
2. The method for automatically finding the coil and transversely centering the electromagnetic chuck of the full-automatic unmanned crane is characterized by comprising the following steps of:
step 1, driving sliding tables on two sides of a linear sliding rail through a servo controller to move to initial positions, and recording the positions of the two sliding tables through a left centering sensor and a right centering sensor, namely a left sliding table initial position S0 and a right sliding table initial position S0'; meanwhile, the electromagnetic chuck is controlled by the unmanned crane to descend to a position 300mm above the steel coil;
step 2, detecting the change of the acquisition distance of the left sliding table and the right sliding table in real time through the sliding tables on the two sides of the linear sliding rail of the servo controller and the left centering sensor and the right centering sensor in the moving process, stopping moving when the left sliding table and the right sliding table move to the boundary position of the steel coil, and recording the actual positions of the left sliding table and the right sliding table, namely the position S1 of the left sliding table and the position S2 of the right sliding table;
step 3, calculating the movement distances of the left and right sliding blocks through the initial positions and the moved positions of the left and right sliding blocks, namely the movement distance SL of the left sliding table and the movement distance SR of the right sliding table;
step 4, calculating the deviation delta S between the transverse center of the electromagnetic chuck and the transverse center of the steel coil;
step 5, adjusting the direction and the distance of the electromagnetic chuck of the unmanned crane according to the numerical value of the deviation delta S;
and 6, driving the sliding tables at the two sides of the linear sliding rail through the servo controller to move to the initial position, and executing the steps 2 to 5 until the delta S is equal to 0.
3. The method for automatically finding the roll and transversely centering the electromagnetic chuck of the fully automatic unmanned crane according to claim 2, wherein in the step 3, the left sliding table moving distance SL and the right sliding table moving distance SR are calculated by the following formulas:
SL＝S1-S0；SR＝S2-S0’
wherein, S0 is the initial position of the left sliding table, 0' is the initial position of the right sliding table, S1 is the position after the movement of the left sliding table, and S2 is the position after the movement of the right sliding table.
4. The method for automatically finding the transverse alignment of the coil of the electromagnetic magnetic chuck of the fully automatic unmanned crane according to claim 2, wherein in the step 4, the value of the deviation amount Δ S is calculated by the following formula:
ΔS＝(SL-SR)/2 。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010685423.7A CN111924714A (en) | 2020-07-16 | 2020-07-16 | Method for automatically finding coil and transversely centering electromagnetic chuck of full-automatic unmanned crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010685423.7A CN111924714A (en) | 2020-07-16 | 2020-07-16 | Method for automatically finding coil and transversely centering electromagnetic chuck of full-automatic unmanned crane |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100857833B1 (en) * | 2007-08-06 | 2008-09-10 | 현대자동차주식회사 | Chassis automatic centering device for commercial use vehicle assembling and control method thereof |
| CN203095426U (en) * | 2012-12-18 | 2013-07-31 | 湖北弘毅钢结构工程有限公司 | Electromagnetic lifting appliance alignment control system for H-shaped steel production line |
| CN105930824A (en) * | 2016-05-13 | 2016-09-07 | 重庆大学 | Technology of automatically recognizing complete grabbing of steel coil for unmanned crown block |
| CN108750904A (en) * | 2018-08-23 | 2018-11-06 | 宝钢湛江钢铁有限公司 | A kind of Electromagnetic slings for lifting loads for unmanned crane |
| CN110160466A (en) * | 2019-06-21 | 2019-08-23 | 福建师范大学地理研究所 | A kind of plant 3 D stereo measuring device |
-
2020
- 2020-07-16 CN CN202010685423.7A patent/CN111924714A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100857833B1 (en) * | 2007-08-06 | 2008-09-10 | 현대자동차주식회사 | Chassis automatic centering device for commercial use vehicle assembling and control method thereof |
| CN203095426U (en) * | 2012-12-18 | 2013-07-31 | 湖北弘毅钢结构工程有限公司 | Electromagnetic lifting appliance alignment control system for H-shaped steel production line |
| CN105930824A (en) * | 2016-05-13 | 2016-09-07 | 重庆大学 | Technology of automatically recognizing complete grabbing of steel coil for unmanned crown block |
| CN108750904A (en) * | 2018-08-23 | 2018-11-06 | 宝钢湛江钢铁有限公司 | A kind of Electromagnetic slings for lifting loads for unmanned crane |
| CN110160466A (en) * | 2019-06-21 | 2019-08-23 | 福建师范大学地理研究所 | A kind of plant 3 D stereo measuring device |
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Application publication date: 20201113 |