The precise positioning of the unmanned crane to the coil core position of the coil needs to meet the precise positioning in 4 directions at the same time, namely, the direction of the cart, the direction of the trolley, the direction of the height of the main hook, and the direction of rotation of the hook. Through the above-mentioned intelligent library management system, PLC The coordinated operation of the control system, the anti-sway and positioning system, and the frequency conversion drive control system can realize the anti-sway and positioning functions in the direction of the cart and the trolley. The precise positioning of the height direction of the main hook needs to be completed with the sensor signal of the smart fixture. First, the smart library management system gives the height of the core position according to the outer diameter information of the coil and the coordinate mapping data (or the calculated data of the second layer coil) Coordinates (Z direction), the main hook height encoder and the sensor signal on the smart fixture dually determine whether the main hook height is appropriate, and the precise positioning of the winding core position in the height direction of the main hook is completed through the speed ramp calculated by the PLC. The hook rotation is generally divided into 90° and 180° rotation. According to the rotation angle command issued by the library management system, the hook rotation frequency converter and the angle detection encoder form a closed loop control to complete the precise positioning of the hook rotation direction. After the positioning in the four directions is completed, the sensor device on the fixture will finally verify whether the clamping conditions are met. After the conditions are met, the relevant actions of automatic hoisting can be continued.
| Method for precise positioning of unmanned crane
The precise positioning of the unmanned crane to the coil core position of the coil needs to meet the precise positioning in 4 directions at the same time, namely, the direction of the cart, the direc