CN114348863A - Method for realizing accurate material grabbing of double-rope double-petal grab bucket unmanned overhead travelling crane - Google Patents
Method for realizing accurate material grabbing of double-rope double-petal grab bucket unmanned overhead travelling crane Download PDFInfo
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- CN114348863A CN114348863A CN202111451978.6A CN202111451978A CN114348863A CN 114348863 A CN114348863 A CN 114348863A CN 202111451978 A CN202111451978 A CN 202111451978A CN 114348863 A CN114348863 A CN 114348863A
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- 239000000463 material Substances 0.000 title claims abstract description 113
- 238000000034 method Methods 0.000 title claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 24
- 239000010959 steel Substances 0.000 claims description 24
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005272 metallurgy Methods 0.000 abstract description 2
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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
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/12—Grabs actuated by two or more ropes
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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Abstract
The invention relates to a method for realizing accurate material grabbing of a double-rope double-petal grab bucket unmanned overhead traveling crane, belonging to the technical field of automatic control methods for metallurgy. The technical scheme of the invention is as follows: establishing a gridding model for the material type through 3D scanning, and datafying the material type; establishing a corresponding relation graph by observing the relation between the grabbing weight and the opening degree of the grab bucket, and quantifying the opening degree of the grab bucket; high-point grabbing is preferably selected to prevent the material from being uneven; the material surface with the small inclination deviation of the grabbing point is selected, so that the grabbing bucket is prevented from inclining when contacting the material surface, and the grabbing success rate is improved. The invention has the beneficial effects that: the accurate charge level is selected and is snatched the degree of depth and calculate and has reduced greatly and snatch the weight error, realizes the grab bucket to snatching the accurate control of weight, avoids the grab bucket to topple over simultaneously, improves the overhead traveling crane and grabs material efficiency, and overhead traveling crane operation number of times reduces the probability that the vehicle secondary was loaded or unloaded when loading.
Description
Technical Field
The invention relates to a method for realizing accurate material grabbing of a double-rope double-petal grab bucket unmanned overhead traveling crane, belonging to the technical field of automatic control methods for metallurgy.
Background
Unmanned grab crown blocks have been widely used in various fields of mining plants and steel plants, and since mineral powder is mostly bulk material, the double-rope double-flap grab bucket is more applied in these fields. The double-rope double-petal grab bucket is provided with two motor drums on a crown block, each drum leads out a steel wire rope, one of the steel wire ropes is tied at two ends of a balance frame at the top of the grab bucket and is responsible for lifting and descending of the grab bucket to play a supporting role and is defined as supporting the steel wire rope, the other steel wire rope passes through a pulley of an upper beam and a pulley of a lower beam of the grab bucket to form a pulley block and is responsible for opening and closing the grab bucket and is defined as an opening and closing steel wire rope. When the grab bucket needs to be opened and closed, the supporting steel wire rope is kept still, the opening and closing steel wire rope is put down, the grab bucket is opened, the opening and closing steel wire rope is folded, and the grab bucket is closed.
At present, an unmanned grab crane can realize point-to-point accurate hoisting, but the actual grabbing weight of each operation cannot be accurately controlled, delivery vehicles in part of stockyards require that the error between the final actual loading weight and the planned loading weight is within 2 percent, if the vehicles leave the factory to check the weight, the weight is out of tolerance, the vehicles must return to a material area to carry out secondary loading or unloading, the delivery efficiency is influenced by light persons, stockpiling in the stockyard is possibly caused when the weight is serious, and therefore production is influenced.
The grabbing weight of the unmanned overhead travelling crane with the double-rope and double-petal grab bucket cannot be accurately controlled mainly because the material level for grabbing materials is uneven, the opening angle of the grab bucket and the sinking depth of the grab bucket on the material level cannot be quantized, and therefore the actual grabbing weight is influenced. The uneven height of charge level also easily leads to taking place to empty when the grab bucket contacts the charge level, can't effectively snatch. How to effectively combine the material type of grabbing point, grab bucket opening angle, grab bucket sinking depth, thereby give feasible strategy and have the accurate control that realizes snatching weight, become the accurate difficult problem of waiting to solve of grab material of unmanned overhead traveling crane of two lamella grabs of restricting.
Disclosure of Invention
The invention aims to provide a method for realizing accurate material grabbing of a double-rope double-flap grab bucket unmanned overhead travelling crane, which comprises the steps of establishing a gridding model for a material type through 3D scanning, and carrying out datamation on the material type; the principle of preferentially selecting high-point grabbing can avoid over-high or over-low of individual areas of the material pile, play a role in optimizing material types and prevent the material types from being uneven; the principle that the inclination deviation of the material surface of the selected grabbing point is small can prevent the grab bucket from inclining when contacting the material surface, and the grabbing success rate is improved; the accurate charge level is selected and is snatched the degree of depth and calculate and has reduced greatly and snatch the weight error, realizes the grab bucket and to snatching the accurate control of weight, can effectively with error control within 2%, avoids the grab bucket to topple over simultaneously, improves the overhead traveling crane and grabs material efficiency, and overhead traveling crane operation number of times when reducing the loading reduces the probability that the vehicle secondary was loaded or unloaded, has solved the above-mentioned problem that exists among the background art effectively.
The technical scheme of the invention is as follows: a method for realizing accurate material grabbing of a double-rope double-flap grab bucket unmanned overhead traveling crane comprises the following steps: (1) establishing a gridding model for the material type through 3D scanning, and datafying the material type; (2) the opening degree of the grab bucket corresponds to the grabbing weight, the relation between the grabbing weight and the opening degree of the grab bucket is observed, a corresponding relation graph is established, and the opening degree of the grab bucket is quantized; (3) selecting a grabbing charge level, measuring the opening width of the grab bucket under a set opening degree and the length of one side of the grab bucket, quantifying the grabbing charge level, then obtaining three important analysis indexes of the grabbing charge level according to gridding data in the grabbing charge level, namely total average height, X-direction inclination deviation and Y-direction inclination deviation, traversing all three analysis indexes capable of grabbing the charge level and the charge level, and sequencing and screening by sequentially utilizing the total average height and the sum of the deviation to obtain the optimal grabbing charge level; (4) and calculating the grabbing depth, namely setting an initial grabbing height according to the total average height of the grabbed material surface, accurately calculating the initial grabbing weight through the grabbing volume, and then obtaining a secondary correction height through calculating the deviation between the grabbing weight and the planned weight under the initial grabbing height to obtain the grabbing height, so that accurate grabbing is realized.
The step (1) comprises the following steps:
step S01: the forward direction of the cart is the X-axis forward direction, the forward direction of the trolley is the Y-axis forward direction, the lifting direction of the main hook is the Z-axis forward direction, the ground of the corner of the material area corresponding to the backward limit of the cart is the original point, and a three-dimensional coordinate system of the material area is established;
step S02: scanning a material area by using a 3D scanner to obtain three-dimensional data of a material type under a scanner coordinate system;
step S03: calibrating a three-dimensional coordinate of a scanning head of the 3D scanner device in a three-dimensional coordinate system of a material area;
step S04: converting three-dimensional data under a scanner coordinate system obtained by scanning into three-dimensional data of a material area coordinate system according to three-dimensional coordinates of a scanning head of a 3D scanner under the material area three-dimensional coordinate system;
step S05: establishing a material area grid type three-dimensional model by taking an original point as a reference and taking 200mm in the X direction and 100mm in the Y direction as unit lengths, wherein X is sequentially defined as X from small to large after X direction conversion0、X1、X1......Xmax-1、XmaxAnd the Y direction is defined as Y from small to large after being converted0、Y1、Y1......Ymax-1、Ymax；
The step (2) includes the steps of:
step S06: measuring the angle theta at which the grab is fully openedmaxThe opening degree at this time is defined as 1.0, the opening degree when completely closed is defined as 0, and the opening degree is linear with the angle proportion;
step S07: the rated maximum grabbing weight of the grab bucket is defined as Wmax；
Step S08: according to actual grabbing operation experience, establishing a corresponding relation graph of a grabbing weight interval and the opening degree of a grab bucket
The grabbing weight is 0 to 0.05WmaxSetting the opening degree to be 0.1 and the opening angle to be 0.1 thetamax；
Grabbing weight is 0.05WmaxTo 0.1WmaxWhen the opening degree is set to be 0.2, the opening angle is set to be 0.2 thetamax；
The grabbing weight is 0.1WmaxTo 0.2WmaxWhen the opening degree is set to be 0.25, the opening angle is set to be 0.25 thetamax；
The grabbing weight is 0.2WmaxTo 0.3WmaxWhen the opening degree is set to be 0.35, the opening angle is set to be 0.35 thetamax；
The grabbing weight is 0.3WmaxTo 0.4WmaxWhen the opening degree is set to be 0.45, the opening angle is set to be 0.45 thetamax；
The grabbing weight is 0.4WmaxTo 0.5WmaxWhen the opening degree is set to be 0.6, the opening angle is set to be 0.6 thetamax；
The grabbing weight is 0.5WmaxTo 0.6WmaxWhen the opening degree is set to be 0.7, the opening angle is set to be 0.7 thetamax；
The grabbing weight is 0.6WmaxTo 0.7WmaxWhen the opening degree is set to be 0.8, the opening angle is set to be 0.8 thetamax；
The grabbing weight is more than 0.7WmaxIn order to prevent the lifting motor from overloading, grabbing is prohibited;
step S09: measuring the corresponding descending amount of the opening and closing steel wire rope under different opening angles and the opening width of the grab bucket;
the step (3) includes the steps of:
step S10: according to the grabbing weight WplanThe grabbing weight interval is selected corresponding to the opening degree of the grab bucket, the corresponding angle theta and the descending amount L of the opening and closing steel wire ropedownThe opening width L of the grab bucketwidth；
Step S11: grab bucket opening width LwidthDirectionParallel to the X direction, and converting by taking 200mm as unit length to obtain a width value NumX under the grid type three-dimensional model;
step S12: measuring the length L of one side of the grab bucket vertical to the opening width direction of the grab bucketlengthThe length direction is parallel to the Y direction, and 100mm is taken as the unit length for conversion, so that a length value NumY under the grid type three-dimensional model is obtained;
step S13: the cross section for grabbing the charge level takes the width as the opening width L of the grab bucketwidthThe length is L of one side of the grab bucketlengthThe data of all grid type three-dimensional coordinate points on four sides of the material surface are obtained by taking the origin of the coordinate system of the material area as the reference, and the data are respectively (X)0,Y0) To (X)0,YNumY)、(XNumX,Y0) To (X)NumX,YNumY)、(X0,Y0) To (X)NumX,Y0)、(X0,YNumY) To (X)NumX,YNumY)；
Step S14: acquiring the height values of all grid type three-dimensional coordinate points on the grabbed charge level, calculating the total average height of the grabbed charge level, and positioning as Have；
Step S15: respectively calculating the average height of four edges of the currently grabbed charge level, (X)0,Y0) To (X)0,YNumY) Is defined as HX0、(XNumX,Y0) To (X)NumX,YNumY) Is defined as HNumX、(X0,Y0) To (X)NumX,Y0) Is defined as HY0、(X0,YNumY) To (X)NumX,YNumY) Is defined as HNumY；
Step S16: calculate HNumX-HX0Absolute value X ofDif0Defining the inclination deviation as the inclination deviation of the current grabbing material surface in the X direction;
step S17: calculate HNumY-HY0Absolute value of (Y)Dif0Defining the inclination deviation as the inclination deviation of the Y direction of the currently grabbed material surface;
step S18: the nested loop traverses all the data of the material surface which can be grabbed, and calculates the total average height of the corresponding material surface, the inclination deviation in the X direction and the inclination deviation in the Y direction;
step S19: sequencing all the graspable charge levels according to the principle that the total average height is from large to small, and taking the first quarter of charge level data;
step S20: removing the data of the material grabbing surface with the inclination deviation in the X direction larger than 300 mm;
step S21: removing the data of the material grabbing surface with the inclination deviation in the Y direction larger than 300 mm;
step S22: calculating the sum of the inclination deviation of the rest grabbed charge level in the X direction and the inclination deviation in the Y direction, sequencing the charge levels from small to large, and taking the first charge level data as the final grabbed charge level;
the step (4) includes the steps of:
step S23: the grab bucket is opened to a set angle, the opening and closing steel wire rope is kept still, the supporting steel wire rope starts to descend, the supporting steel wire rope descends to the total average height of four edges of the charge level after contacting the charge level and continues to descend by 150mm, the descending action is finished at the moment, and the sinking height is Have-150mm, defined as Hini；
Step S24: measuring grab arm length LarmCalculating the height H of the grab bucketiniThe volume of the material held under the high section when closed is
Is defined as Vsur，
Is a fan-shaped column body,
is a triangular prism;
step S25: obtaining coordinates and height values of all points in the captured charge level, and calculating the total average height value H of four vertexes of the grid with unit length of 1unitDefining the height as the material level height of the unit grid;
step S26: meterHeight H of grab bucket in unit gridiniVolume of upper graspable item 100X 200 (H)unit-Hini) Is defined as Vunit；
Step S27: accumulating the volumes of all unit grids in the grabbed charge level to obtain the height HiniSum of volumes V of upper graspable objectssum；
Step S28: at a height HiniThe total weight of the materials which can be grabbed by the grab bucket is (V)sur+Vsum) X ρ, defined as WiniWherein rho is the density of the material;
step S29: at a height HiniThe deviation of the total weight of the grippable materials of the grab bucket from the planned weight is Wini-WplanIs defined as WoffsetConversion to volume
Is defined as VoffsetWherein rho is the density of the material;
step S30: the height of the grab bucket needing secondary sinking or rising is
Is defined as HoffsetWherein L iswdith×LlengthThe area of the grabbing surface of the grab bucket is obtained, and the grabbing height of the grab bucket is Hini-Hoffset。
The invention has the beneficial effects that: establishing a gridding model for the material type through 3D scanning, and datafying the material type; the principle of preferentially selecting high-point grabbing can avoid over-high or over-low of individual areas of the material pile, play a role in optimizing material types and prevent the material types from being uneven; the principle that the inclination deviation of the material surface of the selected grabbing point is small can prevent the grab bucket from inclining when contacting the material surface, and the grabbing success rate is improved; the accurate charge level is selected and is snatched the degree of depth and calculate and has reduced greatly and snatch the weight error, realizes the grab bucket to snatching the accurate control of weight, can effectively with error control within 2%, avoids the grab bucket to topple over simultaneously, improves the overhead traveling crane and grabs material efficiency, and overhead traveling crane operation number of times when reducing the loading reduces the probability that the vehicle secondary was loaded or unloaded.
Drawings
FIG. 1 is a flow chart of the invention for modeling a grid of material zones;
FIG. 2 is a flow chart corresponding to the relationship between the opening degree of the grab bucket and the grabbing weight of the present invention;
FIG. 3 is a flow chart of the establishment of the graspable level and its three analysis indicators in the grasping level selection according to the present invention;
FIG. 4 is a flow chart of the optimal grabbing charge level selection process based on FIG. 3 according to the present invention;
FIG. 5 is a flow chart of the computation of the grab depth of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention with reference to the drawings of the embodiments, and it is obvious that the described embodiments are a small part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
A method for realizing accurate material grabbing of a double-rope double-flap grab bucket unmanned overhead traveling crane comprises the following steps: (1) establishing a gridding model for the material type through 3D scanning, and datafying the material type; (2) the opening degree of the grab bucket corresponds to the grabbing weight, the relation between the grabbing weight and the opening degree of the grab bucket is observed, a corresponding relation graph is established, and the opening degree of the grab bucket is quantized; (3) selecting a grabbing charge level, measuring the opening width of the grab bucket under a set opening degree and the length of one side of the grab bucket, quantifying the grabbing charge level, then obtaining three important analysis indexes of the grabbing charge level according to gridding data in the grabbing charge level, namely total average height, X-direction inclination deviation and Y-direction inclination deviation, traversing all three analysis indexes capable of grabbing the charge level and the charge level, and sequencing and screening by sequentially utilizing the total average height and the sum of the deviation to obtain the optimal grabbing charge level; (4) and calculating the grabbing depth, namely setting an initial grabbing height according to the total average height of the grabbed material surface, accurately calculating the initial grabbing weight through the grabbing volume, and then obtaining a secondary correction height through calculating the deviation between the grabbing weight and the planned weight under the initial grabbing height to obtain the grabbing height, so that accurate grabbing is realized.
The step (1) comprises the following steps:
step S01: the forward direction of the cart is the X-axis forward direction, the forward direction of the trolley is the Y-axis forward direction, the lifting direction of the main hook is the Z-axis forward direction, the ground of the corner of the material area corresponding to the backward limit of the cart is the original point, and a three-dimensional coordinate system of the material area is established;
step S02: scanning a material area by using a 3D scanner to obtain three-dimensional data of a material type under a scanner coordinate system;
step S03: calibrating a three-dimensional coordinate of a scanning head of the 3D scanner device in a three-dimensional coordinate system of a material area;
step S04: converting three-dimensional data under a scanner coordinate system obtained by scanning into three-dimensional data of a material area coordinate system according to three-dimensional coordinates of a scanning head of a 3D scanner under the material area three-dimensional coordinate system;
step S05: establishing a material area grid type three-dimensional model by taking an original point as a reference and taking 200mm in the X direction and 100mm in the Y direction as unit lengths, wherein X is sequentially defined as X from small to large after X direction conversion0、X1、X1......Xmax-1、XmaxAnd the Y direction is defined as Y from small to large after being converted0、Y1、Y1......Ymax-1、Ymax；
The step (2) includes the steps of:
step S06: measuring the angle theta at which the grab is fully openedmaxThe opening degree at this time is defined as 1.0, the opening degree when completely closed is defined as 0, and the opening degree is linear with the angle proportion;
step S07: the rated maximum grabbing weight of the grab bucket is defined as Wmax；
Step S08: according to actual grabbing operation experience, establishing a corresponding relation graph of a grabbing weight interval and the opening degree of a grab bucket
The grabbing weight is 0 to 0.05WmaxSetting the opening degree to be 0.1 and the opening angle to be 0.1 thetamax；
The gripping weight was 0.05WmaxTo 0.1WmaxWhen the opening degree is set to be 0.2, the opening angle is set to be 0.2 thetamax；
The grabbing weight is 0.1WmaxTo 0.2WmaxWhen the opening degree is set to be 0.25, the opening angle is set to be 0.25 thetamax；
The grabbing weight is 0.2WmaxTo 0.3WmaxWhen the opening degree is set to be 0.35, the opening angle is set to be 0.35 thetamax；
The grabbing weight is 0.3WmaxTo 0.4WmaxWhen the opening degree is set to be 0.45, the opening angle is set to be 0.45 thetamax；
The grabbing weight is 0.4WmaxTo 0.5WmaxWhen the opening degree is set to be 0.6, the opening angle is set to be 0.6 thetamax；
The grabbing weight is 0.5WmaxTo 0.6WmaxWhen the opening degree is set to be 0.7, the opening angle is set to be 0.7 thetamax；
The grabbing weight is 0.6WmaxTo 0.7WmaxWhen the opening degree is set to be 0.8, the opening angle is set to be 0.8 thetamax；
The grabbing weight is more than 0.7WmaxIn order to prevent the lifting motor from overloading, grabbing is prohibited;
step S09: measuring the corresponding descending amount of the opening and closing steel wire rope under different opening angles and the opening width of the grab bucket;
the step (3) includes the steps of:
step S10: according to the grabbing weight WplanThe grabbing weight interval is selected corresponding to the opening degree of the grab bucket, the corresponding angle theta and the descending amount L of the opening and closing steel wire ropedownThe opening width L of the grab bucketwidth；
Step S11: grab bucket opening width LwidthThe direction is parallel to the X direction, and the conversion is carried out by taking 200mm as the unit length to obtain the width value NumX under the grid type three-dimensional model;
step S12: measuring the length L of one side of the grab bucket vertical to the opening width direction of the grab bucketlengthThe length direction is parallel to the Y direction, and the conversion is carried out by taking 100mm as the unit length to obtain the grid type three-dimensionalThe length value NumY under the model;
step S13: the cross section for grabbing the charge level takes the width as the opening width L of the grab bucketwidthThe length is L of one side of the grab bucketlengthThe data of all grid type three-dimensional coordinate points on four sides of the material surface are obtained by taking the origin of the coordinate system of the material area as the reference, and the data are respectively (X)0,Y0) To (X)0,YNumY)、(XNumX,Y0) To (X)NumX,YNumY)、(X0,Y0) To (X)NumX,Y0)、(X0,YNumY) To (X)NumX,YNumY)；
Step S14: acquiring the height values of all grid type three-dimensional coordinate points on the grabbed charge level, calculating the total average height of the grabbed charge level, and positioning as Have；
Step S15: respectively calculating the average height of four edges of the currently grabbed charge level, (X)0,Y0) To (X)0,YNumY) Is defined as HX0、(XNumX,Y0) To (X)NumX,YNumY) Is defined as HNumX、(X0,Y0) To (X)NumX,Y0) Is defined as HY0、(X0,YNumY) To (X)NumX,YNumY) Is defined as HNumY；
Step S16: calculate HNumX-HX0Absolute value X ofDif0Defining the inclination deviation as the inclination deviation of the current grabbing material surface in the X direction;
step S17: calculate HNumY-HY0Absolute value of (Y)Dif0Defining the inclination deviation as the inclination deviation of the Y direction of the currently grabbed material surface;
step S18: the nested loop traverses all the data of the material surface which can be grabbed, and calculates the total average height of the corresponding material surface, the inclination deviation in the X direction and the inclination deviation in the Y direction;
step S19: sequencing all the graspable charge levels according to the principle that the total average height is from large to small, and taking the first quarter of charge level data;
step S20: removing the data of the material grabbing surface with the inclination deviation in the X direction larger than 300 mm;
step S21: removing the data of the material grabbing surface with the inclination deviation in the Y direction larger than 300 mm;
step S22: calculating the sum of the inclination deviation of the rest grabbed charge level in the X direction and the inclination deviation in the Y direction, sequencing the charge levels from small to large, and taking the first charge level data as the final grabbed charge level;
the step (4) includes the steps of:
step S23: the grab bucket is opened to a set angle, the opening and closing steel wire rope is kept still, the supporting steel wire rope starts to descend, the supporting steel wire rope descends to the total average height of four edges of the charge level after contacting the charge level and continues to descend by 150mm, the descending action is finished at the moment, and the sinking height is Have-150mm, defined as Hini；
Step S24: measuring grab arm length LarmCalculating the height H of the grab bucketiniThe volume of the material held under the high section when closed is
Is defined as Vsur，
Is a fan-shaped column body,
is a triangular prism;
step S25: obtaining coordinates and height values of all points in the captured charge level, and calculating the total average height value H of four vertexes of the grid with unit length of 1unitDefining the height as the material level height of the unit grid;
step S26: calculating the height H of the grab bucket in the unit gridiniVolume of upper graspable item 100X 200 (H)unit-Hini) Is defined as Vunit；
Step S27: accumulating the volumes of all unit grids in the grabbed charge level to obtain the height HiniSum of volumes V of upper graspable objectssum；
Step S28: at a height HiniThe total weight of the materials which can be grabbed by the grab bucket is (V)sur+Vsum) X ρ, defined as WiniWherein rho is the density of the material;
step S29: at a height HiniThe deviation of the total weight of the grippable materials of the grab bucket from the planned weight is Wini-WplanIs defined as WoffsetConversion to volume
Is defined as VoffsetWherein rho is the density of the material;
step S30: the height of the grab bucket needing secondary sinking or rising is
Is defined as HoffsetWherein L iswdith×LlengthThe area of the grabbing surface of the grab bucket is obtained, and the grabbing height of the grab bucket is Hini-Hoffset。
Claims (2)
1. A method for realizing accurate material grabbing of a double-rope double-flap grab bucket unmanned overhead traveling crane is characterized by comprising the following steps: (1) establishing a gridding model for the material type through 3D scanning, and datafying the material type; (2) the opening degree of the grab bucket corresponds to the grabbing weight, the relation between the grabbing weight and the opening degree of the grab bucket is observed, a corresponding relation graph is established, and the opening degree of the grab bucket is quantized; (3) selecting a grabbing charge level, measuring the opening width of the grab bucket under a set opening degree and the length of one side of the grab bucket, quantifying the grabbing charge level, then obtaining three important analysis indexes of the grabbing charge level according to gridding data in the grabbing charge level, namely total average height, X-direction inclination deviation and Y-direction inclination deviation, traversing all three analysis indexes capable of grabbing the charge level and the charge level, and sequencing and screening by sequentially utilizing the total average height and the sum of the deviation to obtain the optimal grabbing charge level; (4) and calculating the grabbing depth, namely setting an initial grabbing height according to the total average height of the grabbed material surface, accurately calculating the initial grabbing weight through the grabbing volume, and then obtaining a secondary correction height through calculating the deviation between the grabbing weight and the planned weight under the initial grabbing height to obtain the grabbing height, so that accurate grabbing is realized.
2. The method for realizing accurate material grabbing of the double-rope double-petal grab unmanned overhead crane according to claim 1, is characterized in that: the step (1) comprises the following steps:
step S01: the forward direction of the cart is the X-axis forward direction, the forward direction of the trolley is the Y-axis forward direction, the lifting direction of the main hook is the Z-axis forward direction, the ground of the corner of the material area corresponding to the backward limit of the cart is the original point, and a three-dimensional coordinate system of the material area is established;
step S02: scanning a material area by using a 3D scanner to obtain three-dimensional data of a material type under a scanner coordinate system;
step S03: calibrating a three-dimensional coordinate of a scanning head of the 3D scanner device in a three-dimensional coordinate system of a material area;
step S04: converting three-dimensional data under a scanner coordinate system obtained by scanning into three-dimensional data of a material area coordinate system according to three-dimensional coordinates of a scanning head of a 3D scanner under the material area three-dimensional coordinate system;
step S05: establishing a material area grid type three-dimensional model by taking an original point as a reference and taking 200mm in the X direction and 100mm in the Y direction as unit lengths, wherein X is sequentially defined as X from small to large after X direction conversion0、X1、X1......Xmax-1、XmaxAnd the Y direction is defined as Y from small to large after being converted0、Y1、Y1......Ymax-1、Ymax；
The step (2) includes the steps of:
step S06: measuring the angle theta at which the grab is fully openedmaxThe opening degree at this time is defined as 1.0, the opening degree when completely closed is defined as 0, and the opening degree is linear with the angle proportion;
step S07: the rated maximum grabbing weight of the grab bucket is defined as Wmax；
Step S08: according to actual grabbing operation experience, establishing a corresponding relation graph of a grabbing weight interval and the opening degree of a grab bucket
The gripping weight is 0 to 0.05WmaxSetting the opening degree to be 0.1 and the opening angle to be 0.1 thetamax；
Grabbing weight is 0.05WmaxTo 0.1WmaxWhen the opening degree is set to be 0.2, the opening angle is set to be 0.2 thetamax；
The grabbing weight is 0.1WmaxTo 0.2WmaxWhen the opening degree is set to be 0.25, the opening angle is set to be 0.25 thetamax；
The grabbing weight is 0.2WmaxTo 0.3WmaxWhen the opening degree is set to be 0.35, the opening angle is set to be 0.35 thetamax；
The grabbing weight is 0.3WmaxTo 0.4WmaxWhen the opening degree is set to be 0.45, the opening angle is set to be 0.45 thetamax；
The grabbing weight is 0.4WmaxTo 0.5WmaxWhen the opening degree is set to be 0.6, the opening angle is set to be 0.6 thetamax；
The grabbing weight is 0.5WmaxTo 0.6WmaxWhen the opening degree is set to be 0.7, the opening angle is set to be 0.7 thetamax；
The grabbing weight is 0.6WmaxTo 0.7WmaxWhen the opening degree is set to be 0.8, the opening angle is set to be 0.8 thetamax；
The grabbing weight is more than 0.7WmaxIn order to prevent the lifting motor from overloading, grabbing is prohibited;
step S09: measuring the corresponding descending amount of the opening and closing steel wire rope under different opening angles and the opening width of the grab bucket;
the step (3) includes the steps of:
step S10: according to the grabbing weight WplanThe grabbing weight interval is selected corresponding to the opening degree of the grab bucket, the corresponding angle theta and the descending amount L of the opening and closing steel wire ropedownThe opening width L of the grab bucketwidth；
Step S11: grab bucket opening width LwidthThe direction is parallel to the X direction, and the conversion is carried out by taking 200mm as the unit length to obtain the width value NumX under the grid type three-dimensional model;
step S12: measuring the length of one side of the grab bucket vertical to the opening width direction of the grab bucketLlengthThe length direction is parallel to the Y direction, and 100mm is taken as the unit length for conversion, so that a length value NumY under the grid type three-dimensional model is obtained;
step S13: the cross section for grabbing the charge level takes the width as the opening width L of the grab bucketwidthThe length is L of one side of the grab bucketlengthThe data of all grid type three-dimensional coordinate points on four sides of the material surface are obtained by taking the origin of the coordinate system of the material area as the reference, and the data are respectively (X)0,Y0) To (X)0,YNumY)、(XNumX,Y0) To (X)NumX,YNumY)、(X0,Y0) To (X)NumX,Y0)、(X0,YNumY) To (X)NumX,YNumY)；
Step S14: acquiring the height values of all grid type three-dimensional coordinate points on the grabbed charge level, calculating the total average height of the grabbed charge level, and positioning as Have；
Step S15: respectively calculating the average height of four edges of the currently grabbed charge level, (X)0,Y0) To (X)0,YNumY) Is defined as HX0、(XNumX,Y0) To (X)NumX,YNumY) Is defined as HNumX、(X0,Y0) To (X)NumX,Y0) Is defined as HY0、(X0,YNumY) To (X)NumX,YNumY) Is defined as HNumY；
Step S16: calculate HNumX-HX0Absolute value X ofDif0Defining the inclination deviation as the inclination deviation of the current grabbing material surface in the X direction;
step S17: calculate HNumY-HY0Absolute value of (Y)Dif0Defining the inclination deviation as the inclination deviation of the Y direction of the currently grabbed material surface;
step S18: the nested loop traverses all the data of the material surface which can be grabbed, and calculates the total average height of the corresponding material surface, the inclination deviation in the X direction and the inclination deviation in the Y direction;
step S19: sequencing all the graspable charge levels according to the principle that the total average height is from large to small, and taking the first quarter of charge level data;
step S20: removing the data of the material grabbing surface with the inclination deviation in the X direction larger than 300 mm;
step S21: removing the data of the material grabbing surface with the inclination deviation in the Y direction larger than 300 mm;
step S22: calculating the sum of the inclination deviation of the rest grabbed charge level in the X direction and the inclination deviation in the Y direction, sequencing the charge levels from small to large, and taking the first charge level data as the final grabbed charge level;
the step (4) includes the steps of:
step S23: the grab bucket is opened to a set angle, the opening and closing steel wire rope is kept still, the supporting steel wire rope starts to descend, the supporting steel wire rope descends to the total average height of four edges of the charge level after contacting the charge level and continues to descend by 150mm, the descending action is finished at the moment, and the sinking height is Have-150mm, defined as Hini；
Step S24: measuring grab arm length LarmCalculating the height H of the grab bucketiniThe volume of the material held under the high section when closed is
Is defined as Vsur，
Is a fan-shaped column body,
is a triangular prism;
step S25: obtaining coordinates and height values of all points in the captured charge level, and calculating the total average height value H of four vertexes of the grid with unit length of 1unitDefining the height as the material level height of the unit grid;
step S26: calculating the height H of the grab bucket in the unit gridiniVolume of upper graspable item 100X 200 (H)unit-Hini) Is defined as Vunit；
Step S27: will grab the charge levelThe volumes of all unit grids are accumulated to obtain the volume at the height HiniSum of volumes V of upper graspable objectssum；
Step S28: at a height HiniThe total weight of the materials which can be grabbed by the grab bucket is (V)sur+Vsum) X ρ, defined as WiniWherein rho is the density of the material;
step S29: at a height HiniThe deviation of the total weight of the grippable materials of the grab bucket from the planned weight is Wini-WplanIs defined as WoffsetConversion to volume
Is defined as VoffsetWherein rho is the density of the material;
step S30: the height of the grab bucket needing secondary sinking or rising is
Is defined as HoffsetWherein L iswdith×LlengthThe area of the grabbing surface of the grab bucket is obtained, and the grabbing height of the grab bucket is Hini-Hoffset。
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114873468A (en) * | 2022-05-17 | 2022-08-09 | 山东大学 | Crown block grab bucket anti-collision method and system for brewing environment |
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| CN110562854A (en) * | 2019-09-29 | 2019-12-13 | 中国葛洲坝集团水泥有限公司 | Automatic control system of combined storage crane |
| CN112299048A (en) * | 2019-07-30 | 2021-02-02 | 上海宝信软件股份有限公司 | Train loading and distributing system and method based on unmanned grab bucket running mode |
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| CN1587016A (en) * | 2004-07-07 | 2005-03-02 | 高如桐 | Constant force shear type grab bucket |
| CA2615982A1 (en) * | 2005-07-19 | 2007-01-25 | Exxonmobil Chemical Patents Inc. | Polyalpha-olefin compositions and processes to produce the same |
| CN112299048A (en) * | 2019-07-30 | 2021-02-02 | 上海宝信软件股份有限公司 | Train loading and distributing system and method based on unmanned grab bucket running mode |
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