CN113501431B - Automatic loading and unloading system for bridge crane - Google Patents
Automatic loading and unloading system for bridge crane Download PDFInfo
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- CN113501431B CN113501431B CN202110843782.5A CN202110843782A CN113501431B CN 113501431 B CN113501431 B CN 113501431B CN 202110843782 A CN202110843782 A CN 202110843782A CN 113501431 B CN113501431 B CN 113501431B
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- 230000005484 gravity Effects 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
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- 239000011159 matrix material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Abstract
The invention discloses an automatic loading and unloading system of a bridge crane, which relates to the field of loading and unloading of bridge cranes, and comprises a frame body, a lifting appliance, a master control module and a positioning device; the frame body comprises a pair of vertical frames which are parallel to the ground, a pair of transverse frames which slide along the direction of the vertical frames, and a movable frame which slides along the direction of the transverse frames, wherein a lifting appliance is arranged on the movable frame, and a laser scanning range finder is arranged at a groove position above a lifting hook of the lifting appliance; the transverse frame is provided with a first motor for providing the motion power of the transverse frame, the movable frame is provided with a second motor for providing the motion power of the movable frame, and the lifting appliance is provided with a third motor for controlling the lifting appliance to lift; the positioning device is arranged on the ground at the bottom of the frame body and comprises a first induction layer, a line distribution layer and a second induction layer which are arranged from top to bottom, a plurality of protruding pieces which can be pressed down by gravity are arranged on the first induction layer, the bottom of each protruding piece is provided with a conductive element, and the line distribution layer is connected with the protruding pieces in series and parallel through the lower part of each protruding piece.
Description
Technical Field
The invention relates to the field of bridge crane loading and unloading, in particular to an automatic bridge crane loading and unloading system.
Background
The bridge crane is a crane on the dock for loading and unloading operations, is the heart force of the dock, and the capacity of the bridge crane determines the cargo throughput capacity of one dock. The existing automatic loading and unloading device generally carries out goods taking and loading and unloading through a manually operated crane, has larger requirements on the operation skills of a master, is easy to fatigue manually, has limited goods taking and loading and unloading in one day, has high economic cost, generally adopts various sensors for sensing and identifying, has higher requirements on the sensors, and needs a plurality of sensors due to large lifting goods moving area, and the good sensors are more expensive, so that the service life of the sensors is shortened and the accuracy is influenced under the condition of open-air operation.
Disclosure of Invention
The invention aims to provide an automatic loading and unloading system for a bridge crane.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an automatic loading and unloading system of a bridge crane comprises a frame body, a lifting appliance, a master control module and a positioning device; the frame body comprises a pair of vertical frames which are parallel to the ground, a pair of transverse frames which slide along the direction of the vertical frames, and a moving frame which slides along the direction of the transverse frames, wherein a lifting appliance is arranged on the moving frame, and a laser scanning range finder is arranged at the position of a groove above a lifting hook of the lifting appliance; the transverse frame is provided with a first motor for providing the motion power of the transverse frame, the movable frame is provided with a second motor for providing the motion power of the movable frame, and the lifting appliance is provided with a third motor for controlling the lifting appliance to lift; the positioning device is arranged on the ground at the bottom of the frame body and comprises a first induction layer, a circuit distribution layer and a second induction layer which are arranged from top to bottom, wherein a plurality of protruding parts which can be pressed down by gravity are arranged on the first induction layer, the bottom of each protruding part is provided with a conductive element, the circuit distribution layer passes through the lower part of each protruding part to connect the protruding parts in series and in parallel, a connecting area is arranged at the position of the circuit distribution layer corresponding to each conductive element, the connecting area is connected with the conductive elements in a sliding and detachable way, and the connection area is electrified and powered off during connection; the second sensing layer comprises a plurality of grooves, the grooves correspond to the positions of the conductive elements, and the protruding pieces are pressed downwards to be separated from the connecting areas to reach the positions of the grooves; the master control module comprises a line voltage and current reading module, a line distribution layer information storage module, a PLC (programmable logic controller) calculation module, a motor control module and a wireless transmission module, wherein the voltage and current reading module is respectively connected with the line distribution layer and the PLC calculation module, and the PLC calculation module is respectively connected with the line distribution layer information storage module, the laser scanning distance meter and the motor control module; the motor control module is respectively connected with the first motor, the second motor and the third motor in a wireless mode.
The process of positioning the goods by the positioning device: for example, goods are placed on a protruding piece, the protruding piece is subjected to downward pressure, a conductive element at the bottom of the protruding piece is separated from a connection area of a circuit distribution layer, so that the connection area is powered off, voltage and current are changed, the voltage and current change is obtained through a circuit voltage and current reading module, data are transmitted to a PLC computing module, the PLC computing module invokes information of a circuit distribution layer information storage module, and the position of the specific protruding piece (namely, the position of the goods) is determined by combining the calculated values; after the specific position is obtained, the PLC calculation module respectively controls the first motor and the second motor to move the lifting appliance to the position corresponding to the protruding piece by utilizing the motor control module; the specific position of the cargo box is accurately identified and positioned by the laser scanning range finder on the lifting appliance, identification information is transmitted to the PLC computing module, the PLC computing module utilizes the motor control module again to respectively control the first motor and the second motor to conduct micro-debugging, finally utilizes the second motor to control the lifting appliance, and utilizes the lifting hook to hook the cargo (the falling point of the lifting hook can be the top angle position or the top center position of the box body, and can be manually determined or defaults to one mode).
According to the invention, the positioning module is used for preliminary identification, and the laser scanning distance meter is used for accurately positioning the position of the cargo box body, so that the working efficiency is improved, and the working time is greatly saved.
Further, the circuit distribution layer comprises two-wire cross heads, three-wire cross heads and four-wire cross heads, the two-wire cross heads, the three-wire cross heads and the four-wire cross heads are respectively and correspondingly detachably connected with the conductive element, and the conductive element comprises two conductive contact heads adapting to the two-wire cross heads, three conductive contact heads adapting to the three-wire cross heads and four conductive contact heads adapting to the four-wire cross heads.
Further, the circuit distribution layer includes at least one pair of circuit interfaces through which current circulation is accomplished, wiring and conductive elements in the circuit interface, circuit distribution layer. The circuit voltage and current reading module is connected with the circuit interface of the circuit distribution layer and is electrified, and the cargo position is determined through the current and voltage change value.
Further, each conductive element corresponds to an identification positioning code, and the identification positioning codes are bound through the line distribution layer information storage module. Facilitating the determination of cargo position.
Further, the conductive element is disposed at a center of the bottom of the protrusion.
Further, the protruding piece is made of rubber materials.
Further, the protruding pieces are equal in size and are arranged in a matrix. Under the condition that the cargoes are single and the cargoes are of uniform specification, the size is preferably selected to be equal.
Further, the protruding pieces are different in size and are suitable for the bottom area of the container. Is suitable for goods with different kinds and sizes.
Further, the cross frame and the vertical cross frame are arranged in a staggered mode, and two ends of the cross frame slide along the direction of the vertical frame through the idler wheels and the sliding rails.
Further, a first micro-motion limit switch is arranged on the vertical frame and corresponds to the center point of the protruding piece, a first rotating shaft contact shaft is sleeved at the rotating shaft end of the first motor, and the first rotating shaft contact shaft is detachably connected with the first micro-motion limit switch; a second micro-motion limit switch is arranged at a position, corresponding to the protruding piece, on the transverse frame, a second rotating shaft contact shaft is sleeved at the rotating shaft end of the second motor, and the second rotating shaft contact shaft is detachably connected with the second micro-motion limit switch; all the first micro-motion limit switches and all the second micro-motion limit switches are in wireless connection with the motor control module. The first motor is arranged on the transverse frame and provides sliding force for the transverse frame, and simultaneously moves along with the transverse frame, after the transverse frame moves to the position of the central transverse shaft corresponding to the protruding piece, the first rotating shaft contact shaft is in contact with the first micro-motion limit switch, a contact signal is transmitted to the PLC computing module, the PLC computing module judges whether the contact point is a stop point corresponding to the position of the protruding piece or not, the PLC computing module continues to move until the contact point is moved to the position of the transverse shaft corresponding to the protruding piece, and similarly, the second rotating shaft contact shaft of the second motor is in contact with the second micro-motion limit switch and moves to the position of the longitudinal shaft corresponding to the protruding piece.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of the connection of the working modules according to the present invention.
Fig. 3 is a schematic diagram of a circuit distribution layer according to the present invention.
Fig. 4 is a schematic diagram showing the connection of the conductive element and the connection region according to the present invention.
Fig. 5 is a schematic diagram showing the separation of the conductive element and the connection area according to the present invention.
Reference numerals: 1-a vertical frame; 2-a cross frame; 3-a moving rack; 4-lifting appliance; 5-laser scanning distance meter; 6-a line distribution layer; 7-a boss; 8-conductive elements; a 9-linkage region; 10-groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
An automatic loading and unloading system for a bridge crane, referring to fig. 1-5, comprises a frame body, a lifting appliance 4, a master control module and a positioning device.
The frame body comprises a pair of vertical frames 1 which are parallel to the ground, a pair of transverse frames 2 which slide along the direction of the vertical frames 1, and a movable frame 3 which slides along the direction of the transverse frames 2, wherein a lifting appliance 4 is arranged on the movable frame 3, and a laser scanning distance meter 5 is arranged at the position of a groove 10 above a lifting hook of the lifting appliance 4; the transverse frame 2 is provided with a first motor for providing the motion power of the transverse frame 2, the movable frame 3 is provided with a second motor for providing the motion power of the movable frame 3, and the lifting appliance 4 is provided with a third motor for controlling the lifting appliance 4 to lift. The transverse frames 2 are vertically staggered, and two ends of each transverse frame 2 slide along the direction of the vertical frame 1 through rollers and sliding rails; a first micro-motion limit switch is arranged on the vertical frame 1 at a position corresponding to the center point of the protruding piece 7, a first rotating shaft contact shaft is sleeved at the rotating shaft end of the first motor, and the first rotating shaft contact shaft is detachably connected with the first micro-motion limit switch; a second micro-motion limit switch is arranged at a position, corresponding to the protruding piece 7, on the transverse frame 2, a second rotating shaft contact shaft is sleeved at the rotating shaft end of the second motor, and the second rotating shaft contact shaft is detachably connected with the second micro-motion limit switch; all the first micro-motion limit switches and all the second micro-motion limit switches are in wireless connection with the motor control module. The first motor is arranged on the transverse frame 2 and provides sliding force for the transverse frame 2, and simultaneously moves along with the transverse frame 2, after moving to the position of the central transverse shaft corresponding to the protruding piece 7, the first rotating shaft contact shaft is in contact with the first micro-motion limit switch, a contact signal is transmitted to the PLC computing module, the PLC computing module judges whether the contact point is a stop point corresponding to the position of the protruding piece 7 or not, the contact point is judged not to be the stop point and then moves continuously until moving to the position of the transverse shaft corresponding to the protruding piece 7, and similarly, the second rotating shaft contact shaft of the second motor is in contact with the second micro-motion limit switch and moves to the position of the longitudinal shaft corresponding to the protruding piece 7.
The positioning device is arranged on the ground at the bottom of the frame body and comprises a first induction layer, a line distribution layer 6 and a second induction layer which are arranged from top to bottom, a plurality of protruding pieces 7 which can be pressed down by gravity are arranged on the first induction layer, a conductive element 8 is arranged at the bottom of each protruding piece 7, and the conductive element 8 is arranged at the center of the bottom of each protruding piece 7. The protruding member 7 is made of a rubber material. Under the condition that the cargoes are single and the cargo boxes are of uniform specification, the protruding pieces 7 can be preferentially selected to be equal in size and arranged into a matrix; when different kinds of cargo are used, the protruding pieces 7 with different sizes can be selected, and the protruding pieces 7 are suitable for the bottom area of the cargo box. The circuit distribution layer 6 passes under each protruding piece 7, the protruding pieces 7 are connected in series and in parallel, a connecting area 9 is arranged at the position of the circuit distribution layer 6 corresponding to each conductive element 8, the connecting area 9 is connected with the conductive elements 8 in a sliding and detachable mode, and when the connection is performed, power is supplied; the second sensing layer comprises a plurality of grooves 10, the grooves 10 correspond to the positions of the conductive elements 8, and the protruding pieces 7 are pressed down to be separated from the connecting areas 9 to reach the positions of the grooves 10; the master control module comprises a line voltage and current reading module, a line distribution layer information storage module, a PLC (programmable logic controller) calculation module, a motor control module and a wireless transmission module, wherein the voltage and current reading module is respectively connected with the line distribution layer 6 and the PLC calculation module, and the PLC calculation module is respectively connected with the line distribution layer information storage module, the laser scanning distance meter 5 and the motor control module; the motor control module is respectively connected with the first motor, the second motor and the third motor in a wireless mode. The circuit distribution layer 6 comprises two-wire cross heads, three-wire cross heads and four-wire cross heads, the two-wire cross heads, the three-wire cross heads and the four-wire cross heads are respectively and correspondingly detachably connected with the conductive element 8, and the conductive element 8 comprises two conductive contact heads suitable for the two-wire cross heads, three conductive contact heads suitable for the three-wire cross heads and four conductive contact heads suitable for the four-wire cross heads; the wire distribution layer 6 comprises at least one pair of circuit interfaces through which current circulation is accomplished, wiring in the wire distribution layer 6 and the conductive elements 8. The circuit voltage and current reading module is connected with a circuit interface of the circuit distribution layer 6 and is electrified, and the position of the goods is determined through the current and voltage change value; each conductive element 8 corresponds to an identification positioning code, and the identification positioning codes are bound through the line distribution layer information storage module. Facilitating the determination of cargo position.
The process of positioning the goods by the positioning device: for example, goods are placed on one protruding piece 7, the protruding piece 7 is pressed downwards, the conductive element 8 at the bottom of the protruding piece 7 is separated from the connecting area 9 of the line distribution layer 6, so that the electricity is cut off, the voltage and the current are changed, the voltage and the current are obtained through the line voltage and current reading module, the data are transmitted to the PLC computing module, the PLC computing module retrieves the information of the line distribution layer information storage module, and the position of the specific protruding piece 7 (namely the position of the goods) is determined by combining the calculated values; after the specific position is obtained, the PLC calculation module respectively controls the first motor and the second motor to move the lifting appliance 4 to the position corresponding to the protruding piece 7 by utilizing the motor control module; the specific position of the cargo box is accurately identified and positioned through the laser scanning range finder 5 on the lifting appliance 4, identification information is transmitted to the PLC computing module, the PLC computing module utilizes the motor control module again to respectively control the first motor and the second motor to conduct micro-debugging, finally, the lifting appliance 4 is controlled by utilizing the second motor, and the lifting hook is utilized to hook the cargo (the falling point of the lifting hook can be the top angle position or the top center position of the box body, and the falling point of the lifting hook can be manually determined or defaults to one mode).
According to the invention, the positioning module is used for preliminary identification, and the laser scanning distance meter is used for accurately positioning the position of the cargo box body, so that the working efficiency is improved, and the working time is greatly saved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The automatic loading and unloading system of the bridge crane comprises a frame body and a lifting appliance, and is characterized by further comprising a master control module and a positioning device;
The frame body comprises a pair of vertical frames which are parallel to the ground, a pair of transverse frames which slide along the direction of the vertical frames, and a moving frame which slides along the direction of the transverse frames, wherein a lifting appliance is arranged on the moving frame, and a laser scanning range finder is arranged at the position of a groove above a lifting hook of the lifting appliance; the transverse frame is provided with a first motor for providing the motion power of the transverse frame, the movable frame is provided with a second motor for providing the motion power of the movable frame, and the lifting appliance is provided with a third motor for controlling the lifting appliance to lift;
The positioning device is arranged on the ground at the bottom of the frame body and comprises a first induction layer, a circuit distribution layer and a second induction layer which are arranged from top to bottom,
A plurality of protruding parts which can be pressed down by gravity are arranged on the first induction layer, a conductive element is arranged at the bottom of each protruding part, the circuit distribution layer passes under each protruding part to connect the protruding parts in series and parallel,
The circuit distribution layer comprises at least one pair of circuit interfaces, and current circulation is completed through the circuit interfaces, wiring in the circuit distribution layer and the conductive elements;
the second sensing layer comprises a plurality of grooves, the grooves correspond to the positions of the conductive elements, and the protruding pieces are pressed downwards to be separated from the connecting areas to reach the positions of the grooves;
The master control module comprises a line voltage and current reading module, a line distribution layer information storage module, a PLC (programmable logic controller) calculation module, a motor control module and a wireless transmission module, wherein the voltage and current reading module is respectively connected with the line distribution layer and the PLC calculation module, and the PLC calculation module is respectively connected with the line distribution layer information storage module, the laser scanning distance meter and the motor control module;
The motor control module is respectively connected with the first motor, the second motor and the third motor in a wireless way,
Each conductive element corresponds to an identification positioning code, the identification positioning codes are bound through the line distribution layer information storage module,
The process of positioning the goods by the positioning device is as follows:
When goods are placed on a certain protruding piece, the protruding piece is subjected to downward pressure, the conductive element at the bottom of the protruding piece is separated from the connecting area of the circuit distribution layer, so that power is cut off, voltage and current are caused to change, the circuit voltage and current reading module is used for acquiring the voltage and current change and transmitting data to the PLC computing module, the PLC computing module is used for acquiring information of the circuit distribution layer information storage module, and the position of the specific protruding piece, namely the position of the goods, is determined according to the calculated numerical value.
2. The automatic handling system of bridge crane according to claim 1, wherein the circuit distribution layer comprises two-wire cross-over heads, three-wire cross-over heads and four-wire cross-over heads, the two-wire cross-over heads, the three-wire cross-over heads and the four-wire cross-over heads are detachably connected with the conductive elements respectively, and the conductive elements comprise two conductive contact heads adapted to the two-wire cross-over heads, three conductive contact heads adapted to the three-wire cross-over heads and four conductive contact heads adapted to the four-wire cross-over heads.
3. A bridge crane automatic handling system according to claim 1 or 2 wherein the conductive element is centrally located at the bottom of the boss.
4. A bridge crane automatic handling system according to claim 3 wherein the protruding member is made of a rubber material.
5. The automated bridge crane handling system of claim 4 wherein said projections are of equal size and are arranged in a matrix.
6. The automated bridge crane handling system of claim 4 wherein the bosses are sized differently to accommodate the size of the floor area of the cargo box.
7. The automatic loading and unloading system for bridge crane according to claim 1, wherein the cross frames and the vertical frames are vertically staggered, and two ends of the cross frames slide along the direction of the vertical frames through rollers and sliding rails.
8. The automatic loading and unloading system for the bridge crane according to any one of claims 1-2 and 4-7, wherein a first micro-motion limit switch is arranged on the vertical frame at a position corresponding to the center point of the protruding piece, a first rotating shaft contact shaft is sleeved at the rotating shaft end of the first motor, and the first rotating shaft contact shaft is detachably connected with the first micro-motion limit switch; a second micro-motion limit switch is arranged at a position, corresponding to the protruding piece, on the transverse frame, a second rotating shaft contact shaft is sleeved at the rotating shaft end of the second motor, and the second rotating shaft contact shaft is detachably connected with the second micro-motion limit switch; all the first micro-motion limit switches and all the second micro-motion limit switches are in wireless connection with the motor control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110843782.5A CN113501431B (en) | 2021-07-26 | Automatic loading and unloading system for bridge crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110843782.5A CN113501431B (en) | 2021-07-26 | Automatic loading and unloading system for bridge crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113501431A CN113501431A (en) | 2021-10-15 |
| CN113501431B true CN113501431B (en) | 2024-07-12 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN215558495U (en) * | 2021-07-26 | 2022-01-18 | 宁波北仑第三集装箱码头有限公司 | Automatic loading and unloading system for bridge crane |
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN215558495U (en) * | 2021-07-26 | 2022-01-18 | 宁波北仑第三集装箱码头有限公司 | Automatic loading and unloading system for bridge crane |
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