CN205953358U - RTG electron anti -swing system based on machine vision - Google Patents
RTG electron anti -swing system based on machine vision Download PDFInfo
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- CN205953358U CN205953358U CN201620934170.1U CN201620934170U CN205953358U CN 205953358 U CN205953358 U CN 205953358U CN 201620934170 U CN201620934170 U CN 201620934170U CN 205953358 U CN205953358 U CN 205953358U
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- dolly
- rtg
- cart
- machine vision
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Abstract
The utility model discloses a RTG electron anti -swing system based on machine vision, including zero point positioner and reflector panel device, positioner set up the bottom at the dolly zero point, the dolly sets up on the crossbeam of cart, be provided with the hoist device under the dolly, be provided with the reflector panel device on the hoist device, the reflector panel device is fixed on hoist device top water plane, positioner was connected with the PLC controller zero point, the PLC controller is connected with cart driver and dolly driver respectively, the cart driver is connected with cart moving motor, the dolly driver is connected with dolly moving motor. The utility model discloses the simple structure of this system, the reliability is high, and maintenance's work load is little, and the anti -swing effect is detailed, can improve the operating efficiency of RTG system to the security of hoist equipment improves.
Description
Technical field
This utility model is related to a kind of anti-sway system, particularly a kind of RTG electronic anti-swinging system based on machine vision.
Background technology
In the application of crane, in port transportation container or goods in transit, especially the unloading of goods
During goods, goods such as occurs swing, rocks at the phenomenon.
At present, existing anti-swinging technology is using mechanical type anti-roll device, and this mechanical type anti-roll device includes subtracting and shakes steel wire
Rope, reel and limiter of moment driving-chain and the reel with unilateral bearing and sucker, it consumes operation by mechanical means
The energy swinging when object is lifted is to realize finally eliminating the purpose of swing.But, this machinery anti-roll device is extremely complex,
Reliability is not also high, and the workload maintained is big, prevents that it is not very good for shaking effect.
Utility model content
The purpose of this utility model is, provides a kind of RTG electronic anti-swinging system based on machine vision, the system structure
Simply, reliability is high, and maintenance amount is little, prevents shaking effect is significant.
For solving above-mentioned technical problem, this utility model adopts the following technical scheme that：A kind of RTG based on machine vision
Electronic anti-swinging system, including zero-point positioning device and reflector device, zero-point positioning device is arranged on the bottom of dolly, and dolly sets
Put on the crossbeam of cart, the underface of dolly is provided with hoisting device, and hoisting device is provided with reflector device, reflector
Device is fixed in hoisting device top levels, and zero-point positioning device is connected with PLC, PLC respectively with greatly
Car driver and trolley driver connect, and cart driver is connected with cart mobile motor, trolley driver mobile electricity with dolly
Machine connects.When hoisting device does not shift, the zero point that the central point of reflector device is arranged with zero-point positioning device overlaps,
When hoisting device rocks with dolly or cart mobile, hoisting device off-center position, generation is waved, reflective
Panel assembly swings with hoisting device so that the center of reflector device occurs with respect to the zero point that zero-point positioning device is arranged
Skew, produces certain side-play amount, and this side-play amount combines known hoisting device with respect to the difference in height of zero-point positioning device, can count
Calculate the real offset that hoisting device is with respect to dolly, this real offset is sent to PLC, inclined according to this reality
Shifting amount, PLC adjusts the movement of dolly, or the shifting simultaneously adjusting cart by cart driver by trolley driver
Dynamic, so that the moving direction of dolly and dolly is identical, eliminate rocking of hoisting device with quick, thus improving RTG system
Working performance, improves the safety of crane facility.
Aforesaid a kind of based in the RTG electronic anti-swinging system of machine vision, the central point of described reflector device is just right
Center or position of centre of gravity in hoisting device.With ensure suspender static when, zero-point positioning device setting zero point can with reflective
The coincidence of panel assembly central point.
Aforesaid a kind of based in the RTG electronic anti-swinging system of machine vision, described zero-point positioning device is high-definition digital
Video camera.The side-play amount that hoisting device is with respect to this high-definition digital video camera can be obtained by this high-definition digital video camera.
Aforesaid a kind of based in the RTG electronic anti-swinging system of machine vision, described crossbeam includes first crossbeam and second
Crossbeam, hoisting device is arranged between first crossbeam and second cross beam.
Aforesaid a kind of based in the RTG electronic anti-swinging system of machine vision, described hoisting device is connected with lifting rope, lifting rope
It is connected with dolly.
Aforesaid a kind of based in the RTG electronic anti-swinging system of machine vision, described lifting rope is steel wire rope.
Compared with prior art, this utility model passes through to install zero-point positioning device and in hoisting device in the bottom of dolly
Top planes on reflector device corresponding with zero-point positioning device is installed, to obtain the actual cheap amount of hoisting device, root
Control and adjust the moving direction of cart and dolly according to this real offset by PLC, eliminate hoisting device with quick
Rock；The system structure is simple, and reliability is high, and the workload of maintenance is little, and anti-effect of shaking is detailed, can improve RTG system
Working performance, and improve the safety of crane facility.
Brief description
Fig. 1 is structural representation of the present utility model；
Fig. 2 is system connection figure of the present utility model.
Reference：1- zero-point positioning device, 2- reflector device, 3- dolly, 4- cart, 5- crossbeam, 6- second cross beam,
7- hoisting device, 8-PLC controller, 9- cart driver, 10- trolley driver, 11- first crossbeam, the mobile electricity of 12- cart
Machine, 13- dolly mobile motor, 14- lifting rope.
With reference to the accompanying drawings and detailed description this utility model is further described.
Specific embodiment
Embodiment 1 of the present utility model：A kind of RTG electronic anti-swinging system based on machine vision, including zero-point positioning dress
Put 1 and reflector device 2, zero-point positioning device 1 is arranged on the bottom of dolly 3, dolly 3 is arranged on the crossbeam 5 of cart 4, little
The underface of car 3 is provided with hoisting device 7, and hoisting device 7 is provided with reflector device 2, and reflector device 2 is fixed on suspender
In device 7 top levels, zero-point positioning device 1 is connected with PLC 8, PLC 8 respectively with cart driver 9 and
Trolley driver 10 connects, and cart driver 9 is connected with cart mobile motor 12, trolley driver 10 and dolly mobile motor 13
Connect.The central point of reflector device 2 is right against the center of hoisting device 7.Zero-point positioning device 1 in the present embodiment is
One high-definition digital video camera, when hoisting device 7 is static, in the zero point of this high-definition digital video camera setting and reflector device 2
Heart point overlaps, and crossbeam 5 includes first crossbeam 11 and second cross beam 6, and hoisting device 7 is arranged on first crossbeam 11 and second cross beam 6
Between.
Embodiment 2 of the present utility model：A kind of RTG electronic anti-swinging system based on machine vision, including zero-point positioning dress
Put 1 and reflector device 2, zero-point positioning device 1 is arranged on the bottom of dolly 3, dolly 3 is arranged on the crossbeam 5 of cart 4, little
The underface of car 3 is provided with hoisting device 7, and hoisting device 7 is provided with reflector device 2, and reflector device 2 is fixed on suspender
In device 7 top levels, zero-point positioning device 1 is connected with PLC 8, PLC 8 respectively with cart driver 9 and
Trolley driver 10 connects, and cart driver 9 is connected with cart mobile motor 12, trolley driver 10 and dolly mobile motor 13
Connect.The central point of reflector device 2 is right against the center of hoisting device 7.Zero-point positioning device 1 in the present embodiment is
One high-definition digital video camera, when hoisting device 7 is static, in the zero point of this high-definition digital video camera setting and reflector device 2
Heart point overlaps, and crossbeam 5 includes first crossbeam 11 and second cross beam 6, and hoisting device 7 is arranged on first crossbeam 11 and second cross beam 6
Between.Hoisting device 7 is connected with lifting rope 14, and lifting rope 14 is connected with dolly 3.Hoisting device 7 is suspended on dolly 3 by lifting rope 14
Underface.The steel wire rope that in this example, lifting rope 14 is circle stock type using section.
Operation principle of the present utility model：
By installing the zero-point positioning device 1 of high-definition digital video camera in the bottom of dolly 3, at the top of hoisting device 7
The reflector of fixed pattern is installed, when hoisting device 7 rocks, the central point of reflector device 2 is taken the photograph relative to high-definition digital
The zero point of camera image setting shifts, by the side-play amount in image, in conjunction with known hoisting device 7 with respect to high definition number
The difference in height of code video camera, obtains the side-play amount of actual hoisting device 7, and this real offset is sent to PLC 8,
PLC controls and passes through cart mobile motor 12 or dolly mobile motor 13, and the moving direction of adjustment cart 4 or dolly 3 is so that cart
4 and dolly 3 move toward same direction, thus quickly eliminating rocking and swinging of hoisting device 7.
Claims (6)
1. a kind of RTG electronic anti-swinging system based on machine vision is it is characterised in that include zero-point positioning device (1) and reflective
Panel assembly (2), described zero-point positioning device (1) is arranged on the bottom of dolly (3), and described dolly (3) is arranged on the horizontal stroke of cart (4)
On beam (5), the underface of described dolly (3) is provided with hoisting device (7), and described hoisting device (7) is provided with reflector dress
Put (2), described reflector device (2) is fixed in hoisting device (7) top levels, described zero-point positioning device (1) and PLC
Controller (8) connects, and PLC (8) is connected with cart driver (9) and trolley driver (10) respectively, and described cart drives
Dynamic device (9) is connected with cart mobile motor (12), and trolley driver (10) is connected with dolly mobile motor (13).
2. a kind of RTG electronic anti-swinging system based on machine vision according to claim 1 is it is characterised in that described anti-
The central point of filter plate device (2) is right against center or the position of centre of gravity of hoisting device (7).
3. a kind of RTG electronic anti-swinging system based on machine vision according to claim 2 is it is characterised in that described zero
Location device (1) is high-definition digital video camera.
4. a kind of RTG electronic anti-swinging system based on machine vision according to Claims 2 or 3 is it is characterised in that described
Crossbeam (5) includes first crossbeam (11) and second cross beam (6), and described hoisting device (7) is arranged on first crossbeam (11) and second
Between crossbeam (6).
5. a kind of RTG electronic anti-swinging system based on machine vision according to claim 4 is it is characterised in that described hang
Tool device (7) is connected with lifting rope (14), and described lifting rope (14) is connected with dolly (3).
6. a kind of RTG electronic anti-swinging system based on machine vision according to claim 5 is it is characterised in that described hang
Rope (14) is steel wire rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620934170.1U CN205953358U (en) | 2016-08-24 | 2016-08-24 | RTG electron anti -swing system based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620934170.1U CN205953358U (en) | 2016-08-24 | 2016-08-24 | RTG electron anti -swing system based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205953358U true CN205953358U (en) | 2017-02-15 |
Family
ID=57976709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620934170.1U Expired - Fee Related CN205953358U (en) | 2016-08-24 | 2016-08-24 | RTG electron anti -swing system based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205953358U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108083112A (en) * | 2017-10-20 | 2018-05-29 | 武汉船用机械有限责任公司 | A kind of crane |
| CN108249303A (en) * | 2018-01-11 | 2018-07-06 | 南京航空航天大学 | A kind of crane period prevents waving control method |
-
2016
- 2016-08-24 CN CN201620934170.1U patent/CN205953358U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108083112A (en) * | 2017-10-20 | 2018-05-29 | 武汉船用机械有限责任公司 | A kind of crane |
| CN108083112B (en) * | 2017-10-20 | 2019-09-20 | 武汉船用机械有限责任公司 | A kind of crane |
| CN108249303A (en) * | 2018-01-11 | 2018-07-06 | 南京航空航天大学 | A kind of crane period prevents waving control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170215 Termination date: 20210824 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |