The invention relates to a method for realizing accurate grabbing of a double-rope double-flap grab bucket unmanned crown block, and belongs to the technical field of metallurgical automatic control methods. According to the technical scheme, the method comprises the steps that a gridding model is established for a material type through 3D scanning, and the material type is digitized; a corresponding relation graph is established by observing the relation between the grabbing weight and the opening degree of the grab bucket, and the opening degree of the grab bucket is quantified; high-point grabbing is preferentially selected, and uneven material types are prevented; and the material surface with the small grabbing point inclination deviation is selected, the grab bucket is prevented from inclining when making contact with the material surface, and the grabbing success rate is increased. The method has the beneficial effects that the grabbing weight error is greatly reduced through accurate charge level selection and grabbing depth calculation, accurate control over the grabbing weight by the grab bucket is achieved, meanwhile, dumping of the grab bucket is avoided, the crown block grabbing efficiency is improved, the crown block operation frequency during loading is reduced, and the probability of secondary loading or unloading of a vehicle is reduced.
本发明涉及一种实现双绳双瓣抓斗无人天车精准抓料的方法,属于冶金自动控制方法技术领域。本发明的技术方案是:通过3D扫描对料型建立网格化模型,将料型数据化;通过观察抓取重量和抓斗开口度的关系,建立对应关系图,量化抓斗开度;优先选择高点抓取,防止料型高低不平;选取抓取点倾斜偏差较小的料面,防止抓斗接触料面时发生倾斜,提高抓取成功率。本发明的有益效果是:精确的料面选择和抓取深度计算大大减小了抓取重量误差,实现抓斗对抓取重量的精确控制,同时避免抓斗倾倒,提高天车抓料效率,减小装车时天车作业次数,降低车辆二次装车或卸车的概率。
Method for realizing precise grabbing of unmanned crown block with double-rope and double-flap grab bucket
一种实现双绳双瓣抓斗无人天车精准抓料的方法
2022-04-15
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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