A Grab Bucket Ultrasonic Positioning Method

Abstract

The invention discloses an ultrasonic grab bucket positioning method. The ultrasonic grab bucket positioning method comprises the following steps: mounting a synchronizing component, mounting an ultrasonic transmitter on a to-be-positioned grab bucket, and mounting a positioning calculation device and at least three ultrasonic receivers at the periphery of an operating area of the to-be-positionedgrab bucket; enabling the ultrasonic transmitter to transmit an ultrasonic signal under trigger of the synchronizing component; measuring propagation time of the ultrasonic signal by the ultrasonic receivers and the positioning calculation device, and calculating position coordinates of the to-be-positioned grab bucket by the positioning calculation device according to the mounting position of each ultrasonic receiver and the measured propagation time. The ultrasonic grab bucket positioning method disclosed by the invention has the advantages that no mechanical equipment is needed, and regular maintenance operations such as abrasion, refueling and the like do not exist; errors brought by track skid and the like are avoided, so that a corresponding calibration device is not needed.

Description

technical field [0001] The invention belongs to the field of mechanical equipment, and in particular relates to an ultrasonic positioning method for a grab bucket. Background technique [0002] The traditional grab is usually suspended under the crane; in the prior art, the encoder distance measurement is usually used to locate the grab; during the positioning process, the X coordinate of the grab is detected by the encoder of the cart system, and encoded by the trolley system The sensor detects the Y mark of the grab bucket, and the Z coordinate of the grab bucket is provided by the winch system. The detected signal needs to be sent from the car to the big car and then sent to the ground. [0003] This positioning method has the following problems: 1. The encoder will produce mechanical wear during use, resulting in measurement errors; 2. The measurement results of the encoder need to be transmitted to the ground through cables, but the cart and trolley are moving parts. ...

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Problems solved by technology

[0003] This positioning method has the following problems: 1. The encoder will produce mechanical wear during use, resulting in measurement errors; 2. The measurement results of the encoder need to be transmitted to the ground through cables, but the cart and trolley are moving parts. The cables connected to the moving parts are easy to break; 3. There is a phenomenon of track slipping during the operation of the cart and trolley, and the encoder cannot detect the displacement caused by the slipping of the track

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