小车防摇及半自动技术在抓斗卸船机中的应用

Application of anti-sway and semi-automatic technologies of trolley in grab ship unloader

卸船机的半自动工作过程主要分为小车在水平方向运行和抓斗在垂直方向提升两部分,主要讨论小车防摇和半自动数学模型的建立在抓斗卸船机中的应用,以动态数学模型在程序中的实现为依据,分析抓斗卸船机的轨迹曲线,给出执行此运行轨迹的方案。

The semi-automatic work of the ship unloader includes the horizontal movement of trolley and vertical lifting of grab.The paper mainly discusses the application of trolley anti-sway and semi-automatic mathematical model in the grab ship unloader.With the program implementation of dynamic mathematical model as the basis,the paper analyzes the running track curve of grab ship unloader,and provides the scheme for conducting such running track.