A multi-degree-of-freedom cooperative action control method for container loading and unloading comprises the steps that container parameters are read, when the container is unlocked, an overturning oil cylinder works, and when the container is not unlocked, the overturning oil cylinder is unlocked, and then the parameters are read; during loading control, a turnover oil cylinder, a lifting hook oil cylinder and a vertical oil cylinder are controlled to be in place, when the pressure of a tail support reaches a preset value, the tail support is recycled, a horizontal arm and a vertical arm are made to be in place, a container lock is locked, the length value is calculated, the actual length is compared, loading is conducted, and collaborative loading of the container is completed; during unloading control, the overturning oil cylinder, the lifting hook oil cylinder, the vertical oil cylinder and the horizontal oil cylinder are controlled to be in place, the overturning angle is larger than or equal to the impact angle, the tail support is recycled, the supporting pressure reaches a preset value, the overturning angle is larger than or equal to the unloading angle, when the current length of the overturning oil cylinder is smaller than the ideal length, the overturning oil cylinder stretches out, otherwise, the overturning oil cylinder is recycled, and when loading is completed, the lifting arm is recycled. When unloading is completed, the lifting arm stretches out, container unloading is completed, the container loading and unloading efficiency can be effectively improved, and economic and social benefits are huge.
一种集装箱装卸多自由度协同动作控制方法,读取集装箱参数,当已解锁,翻转油缸工作,当未解锁,对其解锁,再读取参数;装载控制时,控制翻转油缸、吊钩油缸、垂直油缸到位,当尾部支撑压力达预设值,回收尾部支撑,使水平臂、垂直臂到位,锁定集装箱锁,计算长度值,比较实际长度,进行装载,完成集装箱协同装载;卸载控制时,控制翻转油缸、吊钩油缸、垂直油缸、水平油缸到位,使翻转角≥撞击角,回收尾部支撑,支撑压力达预设值,使翻转角≥卸载角,当翻转油缸当前长度小于理想长度时,翻转油缸伸出,反之则翻转油缸回收,装载完成时,举升臂回收,卸载完成时,举升臂伸出,完成集装箱卸载,可有效提高集装箱装卸效率,经济和社会效益巨大。
Multi-degree-of-freedom coordination action control method for container loading and unloading
一种集装箱装卸多自由度协同动作控制方法
2024-11-15
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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