CN106698011B - A kind of automatic loading method and device - Google Patents
A kind of automatic loading method and device Download PDFInfo
- Publication number
- CN106698011B CN106698011B CN201611185688.0A CN201611185688A CN106698011B CN 106698011 B CN106698011 B CN 106698011B CN 201611185688 A CN201611185688 A CN 201611185688A CN 106698011 B CN106698011 B CN 106698011B
- Authority
- CN
- China
- Prior art keywords
- railway carriage
- sensor
- displacement
- flashboard
- loading chute
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000011068 loading method Methods 0.000 title claims abstract description 129
- 238000006073 displacement reaction Methods 0.000 claims abstract description 102
- 238000004364 calculation method Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 239000000463 material Substances 0.000 claims description 85
- 230000007423 decrease Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 9
- 238000009790 rate-determining step (RDS) Methods 0.000 claims description 2
- 239000003245 coal Substances 0.000 abstract description 60
- 238000010297 mechanical methods and process Methods 0.000 description 14
- 230000005226 mechanical processes and functions Effects 0.000 description 14
- 238000005259 measurement Methods 0.000 description 7
- 239000002699 waste material Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000012360 testing method Methods 0.000 description 6
- 241000209094 Oryza Species 0.000 description 3
- 235000007164 Oryza sativa Nutrition 0.000 description 3
- 230000001186 cumulative effect Effects 0.000 description 3
- 235000009566 rice Nutrition 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/06—Feeding articles or materials from bunkers or tunnels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
Abstract
The invention discloses a kind of automatic loading methods, comprising: the first running position detecting step, comprising: from the first sensor for the lower section that entrucking tower is set detection railway carriage running position, the first sensor perpendicular to loading chute bottom among；Real time execution speed detecting step, comprising: when the first sensor detects the railway carriage, the real time execution speed of the railway carriage is detected from the velocity sensor being arranged on the entrucking tower；The displacement calculation step of railway carriage, comprising: the displacement of the railway carriage is calculated according to the real time execution speed；Flashboard opens step, comprising: is opened according to the flashboard that the loading chute bottom is arranged in displacement control.Implement the present invention, by controlling the opening time of flashboard, realizes automatic loading, be not in carry out entrucking without human intervention the case where spilling coal, structure is simple, easy to operate.
Description
Technical field
The present invention relates to coal mine field more particularly to a kind of automatic loading method and devices.
Background technique
Quick truck loading system is widely used in the product coal entrucking outward transport link of Large Coal Enterprises, entrucking speed
Degree is fast, it is accurate to weigh, by the favor of each coal enterprise.However, there is also several in quick truck loading system use process at present
Problem is mainly manifested in: 1, manually coal flashboard switch is put in operation entrucking to loading system needs repeatedly and loading chute is flexible,
Great work intensity.2, during manual operation, it may appear that operation is irregular, causes entrucking highly non-uniform, unsightly, when serious
The problems such as super, unbalance loading even occur influences safety of railway traffic.3, since train speed is uneven, in manual operation, root is needed
Accordingly change switch opportunity and the collapsing length of loading chute that coal flashboard is put in entrucking according to speed variation, easily causes spiritual height
It is nervous, battle-weary, it is such as careless slightly, it will cause the problem of chute bumps against railroad car or spills coal, extreme influence loading speed
And efficiency, normal entrucking is transported outward and generates adverse effect.
Summary of the invention
It is an object of the invention to overcome the shortcomings of that the prior art cannot achieve automatic loading, a kind of automatic loading side is provided
Method and device.
Technical solution of the present invention provides a kind of automatic loading method, comprising:
First running position detecting step, comprising: from the first sensor for the lower section that entrucking tower is arranged in detection railway carriage
Running position, the first sensor perpendicular to loading chute bottom among；
Real time execution speed detecting step, comprising: when the first sensor detects the railway carriage, from being arranged in institute
State the real time execution speed that the velocity sensor on entrucking tower detects the railway carriage；
The displacement calculation step of railway carriage, comprising: the displacement of the railway carriage is calculated according to the real time execution speed；
Flashboard opens step, comprising: is opened according to the flashboard that the loading chute bottom is arranged in displacement control.
Further, the displacement calculation step of the railway carriage specifically includes:
The displacement of the railway carriage is calculated using following formula:
M=u-v × k
In formula, m be the railway carriage displacement, unit: centimetre, u be maximum displacement constant, unit: centimetre, v is institute
State the real time execution speed of railway carriage, unit: cm/s, k are coefficient.
Further, the flashboard is opened step and is specifically included:
The real-time displacement amount that the railway carriage is calculated according to the real time execution speed, when the accumulated value of the real-time displacement amount
When equal with the displacement of the railway carriage, control the flashboard and open.
Further, the automatic loading method further include:
Second running position detecting step, comprising: the second sensor from the lower exit port that the entrucking tower is set
Detect the running position of the railway carriage；
Material variety information judgment step, comprising: when the second sensor detects the railway carriage, judge the object
Expect information, the material variety information includes first material information and second material information；
Loading chute rate-determining steps, comprising: when the material variety information is the first material information, by institute
After stating the loading chute decline pre-set time, controls the loading chute and rise, when the material variety information is institute
When stating second material information, the loading chute decline is controlled, from the obstacle avoidance sensor being arranged on the loading chute
The tail portion for detecting the railway carriage controls on the loading chute when the obstacle avoidance sensor detects the tail portion of the railway carriage
It rises.
Further, the automatic loading method further include:
Railway carriage tail portion detecting step, comprising: detected from the 3rd sensor for the lower section inlet that the entrucking tower is arranged in
The tail portion of the railway carriage；
Flashboard closes step, comprising: when the 3rd sensor detects the tail portion of the railway carriage, controls the flashboard
It closes.
Technical solution of the present invention also provides a kind of automatic loading device, comprising:
First sensor, for detecting the running position of railway carriage, the lower section of entrucking tower, institute is arranged in the first sensor
State first sensor perpendicular to loading chute bottom among；
Velocity sensor, for detecting the real-time fortune of the railway carriage when the first sensor detects the railway carriage
Scanning frequency degree, the velocity sensor are arranged on the entrucking tower；
Displacement calculation unit, for calculating the displacement of the railway carriage according to the real time execution speed；
Flashboard control unit, the flashboard for the loading chute bottom to be arranged according to displacement control are opened.
Further, the displacement calculation unit is specifically used for:
The displacement of the railway carriage is calculated using following formula:
M=u-v × k
In formula, m be the railway carriage displacement, unit: centimetre, u be maximum displacement constant, unit: centimetre, v is institute
State the real time execution speed of railway carriage, unit: cm/s, k are coefficient.
Further, the flashboard control unit is specifically used for:
The real-time displacement amount that the railway carriage is calculated according to the real time execution speed, when the accumulated value of the real-time displacement amount
When equal with the displacement of the railway carriage, control the flashboard and open.
Further, the automatic loading device further include:
Second sensor, for detecting the running position of the railway carriage, the second sensor is arranged in the entrucking tower
Lower exit port at；
Judging unit, for judging the material variety information, institute when the second sensor detects the railway carriage
Stating material variety information includes first material information and second material information；
Loading chute control unit is used for when the material variety information is the first material information, by institute
After stating the loading chute decline pre-set time, controls the loading chute and rise, when the material variety information is institute
When stating second material information, the loading chute decline is controlled, from the obstacle avoidance sensor being arranged on the loading chute
The tail portion for detecting the railway carriage controls on the loading chute when the obstacle avoidance sensor detects the tail portion of the railway carriage
It rises.
Further, the automatic loading device further include:
3rd sensor, for detecting the tail portion of the railway carriage, the 3rd sensor is arranged under the entrucking tower
Square inlet；
Flashboard control subelement controls the lock when for detecting the tail portion of the railway carriage when the 3rd sensor
Plate is closed.
After adopting the above technical scheme, having the following beneficial effects: in the downward vertical of entrucking tower in loading chute bottom
Centre setting first sensor passes through the sensing that tests the speed being arranged on entrucking tower when first sensor detects that railway carriage passes through
Device detects the real time execution speed of railway carriage, the displacement of railway carriage is calculated according to the real time execution speed, then according to the displacement
The flashboard of amount control loading chute bottom is opened immediately or postpones to open, and is not in the case where spilling coal, to realize automatic
The function of entrucking carries out entrucking without human intervention, and structure is simple, easy to operate.
Detailed description of the invention
Referring to attached drawing, the disclosure of the present invention will become more readily understood.It is understood that these attached drawings are merely illustrative
Purpose, and be not intended to limit the scope of protection of the present invention.In figure:
Fig. 1 is a kind of flow chart of automatic loading method of the present invention；
Fig. 2 is the work flow diagram of preferred embodiment；
Fig. 3 is a kind of structural schematic diagram of automatic loading device of the present invention；
Fig. 4 is the structural schematic diagram of automatic loading device working condition in Fig. 3.
Specific embodiment
Further illustrate a specific embodiment of the invention with reference to the accompanying drawing.
It is readily appreciated that, according to the technique and scheme of the present invention, in the case where not changing true spirit, the general skill of this field
The various structures mode and implementation that art personnel can be replaced mutually.Therefore, following specific embodiments and attached drawing are only
To the exemplary illustration of technical solution of the present invention, and it is not to be construed as whole of the invention or is considered as to inventive technique scheme
It defines or limits.
It mentions in the present specification or up, down, left, right, before and after, front, the back side, top, the bottom that may mention etc.
Positional terms are defined relative to each construction shown in the drawings, they are opposite concepts, and it is therefore possible to can root
Correspondingly changed according to different location locating for it, different use states.So also should not be by these or others side
Position term is construed to restricted term.
Further illustrate a specific embodiment of the invention with reference to the accompanying drawing.
It is as shown in Figure 1 a kind of flow chart of automatic loading method of the present invention, comprising:
Step S101: from the first sensor for the lower section that entrucking tower is set detection railway carriage running position, described first
Sensor vertical is among loading chute bottom；
Specifically, first sensor is photoelectric sensor, first sensor is arranged below entrucking tower, and perpendicular to entrucking
The middle position of chute bottom, for detecting whether railway carriage enters loading chute middle, to guarantee to make railway carriage in entrucking
When be not in put the unrestrained situation of coal, not will cause waste.
Step S102: when the first sensor detects the railway carriage, from testing the speed on the entrucking tower is arranged in
Sensor detects the real time execution speed of the railway carriage；
Specifically, velocity sensor is that radar velocity measurement sensor passes through thunder when first sensor detects that railway carriage passes through
Up to the real time execution speed of velocity sensor detection railway carriage.
Step S103: the displacement of the railway carriage is calculated according to the real time execution speed；
Specifically, calculating the displacement of the railway carriage using following formula:
M=u-v × k
In formula, m be the railway carriage displacement, unit: centimetre, u be maximum displacement constant, unit: centimetre, v is institute
State the real time execution speed of railway carriage, unit: cm/s, k are coefficient.In actual mechanical process, the numerical value of u and k are according to fire
The model and material variety information of vehicle railway carriage are different and different, by advance by its corresponding numerical value storage to operating system
In, specific corresponding numerical value is as follows: when the model C64 model of railway carriage, when material variety information is cleaned coal, and u=144 lis
Rice, k=2.7；When the model C64 model of railway carriage, when material variety information is mixed coal, u=148 centimetres, k=2.2；Work as vehicle
When the model C70 model of case, when material variety information is cleaned coal, u=136 centimetres, k=2.2；As the model C70 of railway carriage
When model, when material variety information is mixed coal, u=150 centimetres, k=2.4；When the model C80 model of railway carriage, material kind
When category information is cleaned coal, u=100 centimetres, k=2.3；When the model C80 model of railway carriage, material variety information is mixed coal
When, u=102 centimetres, k=2.6.It, can be because it should be noted that the corresponding numerical value of u and k mentioned above is not to immobilize
The conditions such as temperature, humidity for environment change, and need to modify specific value if the variation of environment is bigger and can pass through reality
It tests and carries out sampling determining specific value, then modified storage by operating control panel, if the variation of environment is smaller
It does not need to modify its specific value, because the displacement of the railway carriage calculated occurs delicate in actual mechanical process
Variation can't largely influence the opening time of flashboard.
The displacement calculation method of railway carriage is exemplified below, such as when the model C64 model of railway carriage, material variety
When information is mixed coal, corresponding u=144 centimetres, k=2.7, radar velocity measurement sensor detects railway carriage by the first sensing at this time
When the real time execution speed of device is 40 cm/s, can calculate m according to above-mentioned formula is 36 centimetres.
Step S104: it is opened according to the flashboard that the loading chute bottom is arranged in displacement control.
Specifically, the real-time displacement amount of the railway carriage is calculated according to the real time execution speed, when the real-time displacement amount
Accumulated value it is equal with the displacement of the railway carriage when, control the flashboard and open.When first sensor detects that railway carriage passes through
When, the real-time displacement amount of railway carriage is 0 centimetre at this time, then calculates railway carriage institute every second according to the real time execution speed of railway carriage
The real-time displacement amount of traveling adds up the real-time displacement amount that railway carriage is travelled every second, when cumulative numerical value and railway carriage
Displacement numerical quantity it is equal when, control flashboard is opened, for example above-mentioned calculated m is 36 centimetres, when calculating the real-time of railway carriage
When the accumulating values of displacement are also 36 centimetres, opened after railway carriage is by 36 centimetres of first sensor to control flashboard.
It should be noted that if not needing the real-time displacement amount for calculating railway carriage again when the displacement for calculating railway carriage is 0 centimetre, only
It needs to open flashboard immediately.
First sensor is arranged among loading chute bottom in the downward vertical of entrucking tower in the embodiment of the present invention, when
When one sensor detects that railway carriage passes through, the real time execution speed of railway carriage is detected by the velocity sensor being arranged on entrucking tower
Degree, the displacement of railway carriage is calculated according to the real time execution speed, and the lock of loading chute bottom is then controlled according to the displacement
Plate is opened immediately or postpones to open, and is not in the case where spilling coal, to realize the function of automatic loading, without human intervention
Entrucking is carried out, structure is simple, easy to operate.
It is illustrated in figure 2 the work flow diagram of preferred embodiment, comprising:
Step S201: from the first sensor for the lower section that entrucking tower is set detection railway carriage running position, described first
Sensor vertical is among loading chute bottom；
Specifically, first sensor is photoelectric sensor, first sensor is arranged below entrucking tower, and perpendicular to entrucking
The middle position of chute bottom, for detecting whether railway carriage enters loading chute middle, to guarantee to make railway carriage in entrucking
When be not in put the unrestrained situation of coal, not will cause waste.
Step S202: when the first sensor detects the railway carriage, from testing the speed on the entrucking tower is arranged in
Sensor detects the real time execution speed of the railway carriage；
Specifically, velocity sensor is that radar velocity measurement sensor passes through thunder when first sensor detects that railway carriage passes through
Up to the real time execution speed of velocity sensor detection railway carriage.
Step S203: the displacement of the railway carriage is calculated according to the real time execution speed；
Specifically, calculating the displacement of the railway carriage using following formula:
M=u-v*k
In formula, m be the railway carriage displacement, unit: centimetre, u be maximum displacement constant, unit: centimetre, v is institute
State the real time execution speed of railway carriage, unit: cm/s, k are coefficient.In actual mechanical process, the numerical value of u and k are according to fire
The model and material variety information of vehicle railway carriage are different and different, by advance by its corresponding numerical value storage to operating system
In, specific corresponding numerical value is as follows: when the model C64 model of railway carriage, when material variety information is cleaned coal, and u=144 lis
Rice, k=2.7；When the model C64 model of railway carriage, when material variety information is mixed coal, u=148 centimetres, k=2.2；Work as vehicle
When the model C70 model of case, when material variety information is cleaned coal, u=136 centimetres, k=2.2；As the model C70 of railway carriage
When model, when material variety information is mixed coal, u=150 centimetres, k=2.4；When the model C80 model of railway carriage, material kind
When category information is cleaned coal, u=100 centimetres, k=2.3；When the model C80 model of railway carriage, material variety information is mixed coal
When, u=102 centimetres, k=2.6.It, can be because it should be noted that the corresponding numerical value of u and k mentioned above is not to immobilize
The conditions such as temperature, humidity for environment change, and need to modify specific value if the variation of environment is bigger and can pass through reality
It tests and carries out sampling determining specific value, then modified storage by operating control panel, if the variation of environment is smaller
It does not need to modify its specific value, because the displacement of the railway carriage calculated occurs delicate in actual mechanical process
Variation can't largely influence the opening time of flashboard.
The displacement calculation method of railway carriage is exemplified below, such as when the model C64 model of railway carriage, material variety
When information is mixed coal, corresponding u=144 centimetres, k=2.7, radar velocity measurement sensor detects railway carriage by the first sensing at this time
When the real time execution speed of device is 40 cm/s, can calculate m according to above-mentioned formula is 36 centimetres.
Step S204: it is opened according to the flashboard that the loading chute bottom is arranged in displacement control.
Specifically, the real-time displacement amount of the railway carriage is calculated according to the real time execution speed, when the real-time displacement amount
Accumulated value it is equal with the displacement of the railway carriage when, control the flashboard and open.When first sensor detects that railway carriage passes through
When, the real-time displacement amount of railway carriage is 0 centimetre at this time, then calculates railway carriage institute every second according to the real time execution speed of railway carriage
The real-time displacement amount of traveling adds up the real-time displacement amount that railway carriage is travelled every second, when cumulative numerical value and railway carriage
Displacement numerical quantity it is equal when, control flashboard is opened, for example above-mentioned calculated m is 36 centimetres, when calculating the real-time of railway carriage
When the accumulating values of displacement are also 36 centimetres, opened after railway carriage is by 36 centimetres of first sensor to control flashboard.
It should be noted that if not needing the real-time displacement amount for calculating railway carriage again when the displacement for calculating railway carriage is 0 centimetre, only
It needs to open flashboard immediately.
Step S205: the second sensor from the lower exit port that the entrucking tower is arranged in detects the operation of the railway carriage
Position.
Specifically, second sensor is photoelectric sensor, second sensor is arranged at the lower exit port of entrucking tower, is located at
The right side of loading chute confirms that loading chute whether completely into railway carriage inside, avoids out by setting second sensor
When now because of loading chute not completely into railway carriage inside, loading chute collides railway carriage in decline, causes equipment damage.?
In specific actual mechanical process, due to having setting stick on the left of the railroad car of part, if only installing a photoelectric sensor, it can make
Photoelectric sensor is blocked in advance at setting stick and maloperation occurs, and therefore, adds one again below the horizontal vertical of second sensor
A photoelectric sensor is detected jointly by two photoelectric sensors, even if setting stick shelters from first sensor, and the photoelectricity added
Sensor is not blocked, and the maloperation that coal is put in triggering will not occur.
Step S206: when the second sensor detects the railway carriage, judge the material variety information, the object
Expect that information includes first material information and second material information；
Specifically, first material information is cleaned coal, second material information is mixed coal.When material variety information is
When first material information, step S207 is executed, when material variety information is second material information, executes step
S208。
Step S207:, will be under the loading chute when the material variety information is the first material information
After dropping the pre-set time, controls the loading chute and rise；
Specifically, when material variety information is cleaned coal, since the specific gravity of cleaned coal is smaller, if the height of loading chute
It is relatively high, it be easy to cause and puts the unrestrained situation of coal, so controlling entrucking after needing to decline loading chute into the pre-set time
Chute rises, and in actual mechanical process, the pre-set time is generally 2-4 seconds, and executes step S211.
Step S208: when the material variety information is the second material information, the loading chute is controlled
Decline；
Step S209: the tail portion of the railway carriage is detected from the obstacle avoidance sensor being arranged on the loading chute；
Step S210: it when the obstacle avoidance sensor detects the tail portion of the railway carriage, controls the loading chute and rises；
Specifically, described obstacle avoidance sensor one end is connect with rotation axis one end, the bottom of the obstacle avoidance sensor other end
It is arranged on same level direction with the bottom of the loading chute, the rotation axis other end is connect with fixed frame one end, institute
The fixed frame other end is stated to connect with the loading chute.In actual mechanical process, the length of fixed frame is 1 meter, works as material
When information is mixed coal, control loading chute decline detects railway carriage from the obstacle avoidance sensor that loading chute side is arranged in
Tail portion, when obstacle avoidance sensor collides the tail portion of railway carriage, obstacle avoidance sensor can be bounced by rotation axis and be rotated, then control dress
Vehicle chute rises, and avoids when railway carriage is close to tail portion, loading chute cannot rise in time also in railway carriage, to cause to touch
Phenomenon is hit, equipment damage is avoided, plays the role of protecting equipment safety, and execute step S211.
Step S211: the tail of the railway carriage is detected from the 3rd sensor for the lower section inlet that the entrucking tower is arranged in
Portion；
Step S212: it when the 3rd sensor detects the tail portion of the railway carriage, controls the flashboard and closes.
Specifically, 3rd sensor is set in the lower section inlet of entrucking tower, and in actual mechanical process, third sensing
Device is apart from 3 meters or so on the left of loading chute, and when entering entrucking tower due to railway carriage, 3rd sensor will be blocked, to trigger
Signal, when the tail portion of railway carriage pass through 3rd sensor after, 3rd sensor is not blocked, thus will not trigger signal, show
Railway carriage comes into tail portion, and control flashboard is closed, avoided after entering tail portion because of railway carriage, and there are also remaining coals in loading chute
Material occurs putting the unrestrained situation of coal, coal charge is caused to waste.
First sensor is arranged among loading chute bottom in the downward vertical of entrucking tower in the embodiment of the present invention, when
When one sensor detects that railway carriage passes through, the real time execution speed of railway carriage is detected by the velocity sensor being arranged on entrucking tower
Degree, the displacement of railway carriage is calculated according to the real time execution speed, and the lock of loading chute bottom is then controlled according to the displacement
Plate is opened immediately or postpones to open, and is not in the case where spilling coal, to realize the function of automatic loading, structure is simple, behaviour
Facilitate.Meanwhile loading chute raising and lowering is controlled by material variety information, and railway carriage is detected by 3rd sensor
Tail portion avoided after entering tail portion because of railway carriage to control flashboard closing, there are also remaining coal charges in loading chute, occur
It puts coal and trickles down situation, coal charge is caused to waste.
It is illustrated in figure 3 a kind of structural schematic diagram of automatic loading device of the present invention, Fig. 4 show automatic loading in Fig. 3
The structural schematic diagram of working state of device, comprising:
First sensor 31, for detecting the running position of railway carriage 41, entrucking tower is arranged in the first sensor 31
Lower section, the first sensor 31 perpendicular to 42 bottom of loading chute among；
Specifically, first sensor 31 is photoelectric sensor, first sensor 31 is arranged below entrucking tower, and perpendicular to
The middle position of 42 bottom of loading chute, for detecting whether railway carriage 41 enters 42 middle of loading chute, to guarantee to make vehicle
Case 41 is not in put coal unrestrained situation when entrucking, not will cause waste.
Velocity sensor 32, for detecting the railway carriage 41 when the first sensor detects the railway carriage 41
Real time execution speed, the velocity sensor 32 are arranged on the entrucking tower；
Specifically, velocity sensor 32 is radar velocity measurement sensor, when first sensor 31 detects that railway carriage 41 passes through,
The real time execution speed of railway carriage 41 is detected by radar velocity measurement sensor 32.
Displacement calculation unit 33, for calculating the displacement of the railway carriage 41 according to the real time execution speed；
Specifically, calculating the displacement of the railway carriage 41 using following formula:
M=u-v × k
In formula, m be the railway carriage displacement, unit: centimetre, u be maximum displacement constant, unit: centimetre, v is institute
State the real time execution speed of railway carriage, unit: cm/s, k are coefficient.In actual mechanical process, the numerical value of u and k are according to fire
The model and material variety information of vehicle railway carriage are different and different, by advance by its corresponding numerical value storage to operating system
In, specific corresponding numerical value is as follows: when the model C64 model of railway carriage, when material variety information is cleaned coal, and u=144 lis
Rice, k=2.7；When the model C64 model of railway carriage, when material variety information is mixed coal, u=148 centimetres, k=2.2；Work as vehicle
When the model C70 model of case, when material variety information is cleaned coal, u=136 centimetres, k=2.2；As the model C70 of railway carriage
When model, when material variety information is mixed coal, u=150 centimetres, k=2.4；When the model C80 model of railway carriage, material kind
When category information is cleaned coal, u=100 centimetres, k=2.3；When the model C80 model of railway carriage, material variety information is mixed coal
When, u=102 centimetres, k=2.6.It, can be because it should be noted that the corresponding numerical value of u and k mentioned above is not to immobilize
The conditions such as temperature, humidity for environment change, and need to modify specific value if the variation of environment is bigger and can pass through reality
It tests and carries out sampling determining specific value, then modified storage by operating control panel, if the variation of environment is smaller
It does not need to modify its specific value, because the displacement of the railway carriage calculated occurs delicate in actual mechanical process
Variation can't largely influence the opening time of flashboard.
The displacement calculation method of railway carriage 41 is exemplified below, such as when the model C64 model of railway carriage 41, material
When information is mixed coal, corresponding u=144 centimetres, k=2.7, radar velocity measurement sensor 32 detects that railway carriage 41 passes through at this time
When the real time execution speed of first sensor 31 is 40 cm/s, can calculate m according to above-mentioned formula is 36 centimetres.
Flashboard control unit 34, the flashboard for 42 bottom of loading chute to be arranged according to displacement control are opened
It opens.
Specifically, the real-time displacement amount of the railway carriage is calculated according to the real time execution speed, when the real-time displacement amount
Accumulated value it is equal with the displacement of the railway carriage when, control the flashboard and open.When first sensor detects that railway carriage passes through
When, the real-time displacement amount of railway carriage is 0 centimetre at this time, then calculates railway carriage institute every second according to the real time execution speed of railway carriage
The real-time displacement amount of traveling adds up the real-time displacement amount that railway carriage is travelled every second, when cumulative numerical value and railway carriage
Displacement numerical quantity it is equal when, control flashboard is opened, for example above-mentioned calculated m is 36 centimetres, when calculating the real-time of railway carriage
When the accumulating values of displacement are also 36 centimetres, opened after railway carriage 41 is by 36 centimetres of first sensor to control flashboard
It opens.It should be noted that if not needing the real-time displacement amount for calculating railway carriage again when the displacement for calculating railway carriage is 0 centimetre,
It only needs to open flashboard immediately.
In implementing at wherein one, the automatic loading device further include:
Second sensor 35, for detecting the running position of the railway carriage 41, the second sensor is arranged in the dress
At the lower exit port of vehicle tower.
Specifically, second sensor 35 is photoelectric sensor, second sensor 35 is arranged at the lower exit port of entrucking tower,
Positioned at the right side of loading chute 42, confirm loading chute 42 whether completely into railway carriage by setting second sensor 35
Portion, when avoiding the occurrence of because of loading chute 42 not completely into 41 inside of railway carriage, loading chute collides railway carriage in decline, makes
Forming apparatus damage.In specific actual mechanical process, due to having setting stick on the left of the railroad car of part, if only installing a light
Electric transducer will cause setting stick and block photoelectric sensor in advance and maloperation occur, and therefore, hang down in the level of second sensor 35
A photoelectric sensor 35 ' is added in straight lower section again, is detected jointly by two photoelectric sensors, even if setting stick shelters from the first biography
Sensor, and the photoelectric sensor 35 ' added is not blocked, and the maloperation that coal is put in triggering will not occur.
Judging unit 36, for judging the material variety when the second sensor 35 detects the railway carriage 41
Information, the material variety information include first material information and second material information；
Loading chute control unit 37 will be described when the material variety information is the first material information
After loading chute 42 declines the pre-set time, controls the loading chute 42 and rise, when the material variety information is
When the second material information, controls the loading chute 42 and decline, from the anticollision being arranged on the loading chute 42
Sensor 43 detects the tail portion of the railway carriage 41, when the obstacle avoidance sensor 43 detects the tail portion of the railway carriage 41, control
The loading chute 42 rises.
Specifically, 43 one end of obstacle avoidance sensor is connect with 44 one end of rotation axis, the bottom of 43 other end of obstacle avoidance sensor with
The bottom of loading chute 42 is arranged on same level direction, and 44 other end of rotation axis is connect with 45 one end of fixed frame, fixed frame
45 other ends are connect with loading chute 42, and in actual mechanical process, the length of fixed frame 45 is 1 meter.First material type
Information is cleaned coal, and second material information is mixed coal, when material variety information is cleaned coal, since the specific gravity of cleaned coal compares
It is small, if the height of loading chute 42 is relatively high, it be easy to cause and puts the unrestrained situation of coal, so needing to decline loading chute 42 pre-
After the time being first arranged, control loading chute rises, and in actual mechanical process, the pre-set time is generally 2-4
Second.When material variety information is mixed coal, control loading chute 42 declines, and senses from the anticollision that 42 side of loading chute is arranged in
Device 43 detects the tail portion of railway carriage 41, and when obstacle avoidance sensor 43 collides the tail portion of railway carriage 41, obstacle avoidance sensor 43 can be by turning
Then the spring rotation of moving axis 44 controls loading chute 42 and rises, avoids when railway carriage 41 is close to tail portion, loading chute 42 also in
It in railway carriage, cannot rise in time, to cause collision phenomenon, avoid equipment damage, play the role of protecting equipment safety.
In implementing at wherein one, the automatic loading device further include:
3rd sensor 38, for detecting the tail portion of the railway carriage 41, the 3rd sensor 38 is arranged in the entrucking
The lower section inlet of tower；
Flashboard controls subelement 341, when for detecting the tail portion of the railway carriage 41 when the 3rd sensor 38, control
The flashboard is closed.
Specifically, 3rd sensor 38 is arranged in the lower section inlet of entrucking tower, in actual mechanical process, third is passed
Sensor 38 is apart from 42 3 meters or so of left side of loading chute, and when entering entrucking tower due to railway carriage 41,3rd sensor 38 will be hidden
Gear, thus trigger signal, after 3rd sensor 38 are passed through in the tail portion of railway carriage 41,3rd sensor 38 is not blocked, thus
Will not trigger signal, show that railway carriage 41 comes into tail portion, control flashboard is closed, and is avoided after entering tail portion because of railway carriage 41, dress
There are also remaining coal charge in vehicle chute 42, occurs putting the unrestrained situation of coal, coal charge is caused to waste.
First sensor 31 is arranged in the downward vertical of entrucking tower in the embodiment of the present invention among 42 bottom of loading chute,
When first sensor 31 detects that railway carriage passes through, the reality of railway carriage 41 is detected by the velocity sensor 32 being arranged on entrucking tower
When the speed of service, displacement calculation unit 33 calculates the displacement of railway carriage 41, then flashboard control according to the real time execution speed
Unit 34 processed is opened immediately according to the flashboard that the displacement controls 42 bottom of loading chute or postpones to open, and is not in spill matchmaker
The case where, to realize the function of automatic loading, structure is simple, easy to operate.Meanwhile loading chute control unit 37 passes through object
Expect that information controls 42 raising and lowering of loading chute, and detects the tail portion of railway carriage 41 by 3rd sensor 38, thus
Subelement 341 is controlled by flashboard and controls flashboard closing, is avoided after entering tail portion because of railway carriage 41, there are also residual in loading chute 42
Remaining coal charge occurs putting the unrestrained situation of coal, coal charge is caused to waste.
Above-described is only the principle of the present invention and preferred embodiment.It should be pointed out that for the common skill of this field
For art personnel, on the basis of the principle of the invention, several other modifications can also be made, also should be regarded as protection model of the invention
It encloses.
Claims (10)
1. a kind of automatic loading method characterized by comprising
First running position detecting step, comprising: from the operation of the first sensor for the lower section that entrucking tower is arranged in detection railway carriage
Position, the first sensor perpendicular to loading chute bottom among；
Real time execution speed detecting step, comprising: when the first sensor detects the railway carriage, from being arranged in the dress
Velocity sensor on vehicle tower detects the real time execution speed of the railway carriage；
The displacement calculation step of railway carriage, comprising: the displacement of the railway carriage is calculated according to the real time execution speed；
Flashboard opens step, comprising: is opened according to the flashboard that the loading chute bottom is arranged in displacement control；
Material variety information judgment step, comprising: judge that the material variety information, the material variety information include the first object
Expect information and second material information；
Loading chute rate-determining steps, comprising: when the material variety information is the first material information, by the dress
It after vehicle chute declines pre-set time, controls the loading chute and rises, when the material variety information is described the
When two material variety information, the loading chute decline is controlled, from the obstacle avoidance sensor detection being arranged on the loading chute
The tail portion of the railway carriage controls the loading chute and rises when the obstacle avoidance sensor detects the tail portion of the railway carriage.
2. the method as described in claim 1, which is characterized in that the displacement calculation step of the railway carriage specifically includes:
The displacement of the railway carriage is calculated using following formula:
M=u-v × k
In formula, m be the railway carriage displacement, unit: centimetre, u be maximum displacement constant, unit: centimetre, v be the vehicle
The real time execution speed of case, unit: cm/s, k are coefficient.
3. method according to claim 2, which is characterized in that the flashboard is opened step and specifically included:
When the accumulated value of the real-time displacement amount is equal with the displacement of the railway carriage, controls the flashboard and open.
4. the method as described in claim 1, which is characterized in that the flashboard is opened after step further include:
Second running position detecting step, comprising: the second sensor detection from the lower exit port that the entrucking tower is set
The running position of the railway carriage.
5. the method as described in claim 1-4 is any, which is characterized in that the automatic loading method further include:
Railway carriage tail portion detecting step, comprising: described in the detection of the 3rd sensor for the lower section inlet that the entrucking tower is set
The tail portion of railway carriage；
Flashboard closes step, comprising: when the 3rd sensor detects the tail portion of the railway carriage, controls the flashboard and closes
It closes.
6. a kind of automatic loading device characterized by comprising
First sensor, for detecting the running position of railway carriage, the first sensor is arranged in the lower section of entrucking tower, and described
One sensor vertical is among loading chute bottom；
Velocity sensor, for when the first sensor detects the railway carriage, detecting the real time execution speed of the railway carriage
Degree, the velocity sensor are arranged on the entrucking tower；
Displacement calculation unit, for calculating the displacement of the railway carriage according to the real time execution speed；
Flashboard control unit, the flashboard for the loading chute bottom to be arranged according to displacement control are opened；
Judging unit, for judging that material variety information, the material variety information include first material information and second
Material variety information；
Loading chute control unit is used for when the material variety information is the first material information, by the dress
It after vehicle chute declines pre-set time, controls the loading chute and rises, when the material variety information is described the
When two material variety information, the loading chute decline is controlled, from the obstacle avoidance sensor detection being arranged on the loading chute
The tail portion of the railway carriage controls the loading chute and rises when the obstacle avoidance sensor detects the tail portion of the railway carriage.
7. device as claimed in claim 6, which is characterized in that the displacement calculation unit is specifically used for:
The displacement of the railway carriage is calculated using following formula:
M=u-v × k
In formula, m be the railway carriage displacement, unit: centimetre, u be maximum displacement constant, unit: centimetre, v be the vehicle
The real time execution speed of case, unit: cm/s, k are coefficient.
8. device as claimed in claim 7, which is characterized in that the flashboard control unit is specifically used for:
When the accumulated value of the real-time displacement amount is equal with the displacement of the railway carriage, controls the flashboard and open.
9. device as claimed in claim 6, which is characterized in that the automatic loading device further include:
Second sensor, for detecting the running position of the railway carriage, the second sensor is arranged under the entrucking tower
Square exit.
10. the device as described in claim 6-9 is any, which is characterized in that the automatic loading device further include:
3rd sensor, for detecting the tail portion of the railway carriage, the 3rd sensor is arranged in below the entrucking tower
At mouthful；
Flashboard controls subelement, when for detecting the tail portion of the railway carriage when the 3rd sensor, controlling the flashboard and closing
It closes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611185688.0A CN106698011B (en) | 2016-12-20 | 2016-12-20 | A kind of automatic loading method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611185688.0A CN106698011B (en) | 2016-12-20 | 2016-12-20 | A kind of automatic loading method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106698011A CN106698011A (en) | 2017-05-24 |
| CN106698011B true CN106698011B (en) | 2019-01-18 |
Family
ID=58939416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611185688.0A Active CN106698011B (en) | 2016-12-20 | 2016-12-20 | A kind of automatic loading method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106698011B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292483A (en) * | 2018-11-13 | 2019-02-01 | 天津美腾科技有限公司 | Intelligent loading method and device |
| CN109704097A (en) * | 2019-03-08 | 2019-05-03 | 中冶华天南京电气工程技术有限公司 | A kind of automation train container coke car-loading control system |
| CN110342281A (en) * | 2019-08-05 | 2019-10-18 | 山东泰安煤矿机械有限公司 | Unattended loading method and device |
| CN110836636B (en) * | 2019-10-18 | 2021-02-09 | 中交机电工程局有限公司 | Laser scanning type train loading detection device |
| CN110817485B (en) * | 2019-11-11 | 2021-05-04 | 天地科技股份有限公司 | Anti-unbalance-loading system and method for throwing type unloading of railway loading station |
| CN113979159A (en) * | 2021-11-10 | 2022-01-28 | 新疆天池能源有限责任公司 | Full-automatic loading system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104085701A (en) * | 2014-07-02 | 2014-10-08 | 中国神华能源股份有限公司 | Coal ground production system train loading method and device |
| CN204847448U (en) * | 2015-07-03 | 2015-12-09 | 中国神华能源股份有限公司 | Dustless coal loading device |
-
2016
- 2016-12-20 CN CN201611185688.0A patent/CN106698011B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104085701A (en) * | 2014-07-02 | 2014-10-08 | 中国神华能源股份有限公司 | Coal ground production system train loading method and device |
| CN204847448U (en) * | 2015-07-03 | 2015-12-09 | 中国神华能源股份有限公司 | Dustless coal loading device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106698011A (en) | 2017-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106698011B (en) | A kind of automatic loading method and device | |
| CN104931225B (en) | A kind of Automatic continuous Weighing type sand-taped instrument | |
| CN107054911A (en) | A kind of automatic decision and the control system and method for eliminating run coal bin chute blockage | |
| US11931865B2 (en) | Steel grit dryer | |
| JP5297348B2 (en) | Piping clogging detection device and piping clogging detecting method | |
| CN107539749B (en) | A kind of method of charging belt material tracking and detection of skidding | |
| CN106500793B (en) | Level measurement equipment | |
| JP5356911B2 (en) | Quantitative filling device, quantitative packaging system, and collective chute used for them | |
| Hauert et al. | Measurement of dust cloud characteristics in industrial plants | |
| CN201650355U (en) | Measurement and control system for mine car runaway prevention device | |
| CN202575322U (en) | Material flow sensor | |
| CN104296844B (en) | A kind of batch (-type) bagged material weight detection equipment | |
| US3714818A (en) | Method and means of measuring the moisture content of grain | |
| CN111422644B (en) | Stacked coal detection method and stacked coal detection device | |
| CN205223803U (en) | Automatic dispensing device of bituminous mixture admixture | |
| CN208199819U (en) | A kind of sulphur automobile loading system in bulk | |
| CN106500935A (en) | A kind of seamless table tennis anti-pumping performance grouping system method | |
| CN206466241U (en) | A kind of swing type counting grain machine | |
| CN1219197C (en) | Optic-mechanical-electrical combination delivering type bump test facility | |
| CN105192880B (en) | One kind goes with each other all the time pipe tobacco cabinet material sky determination methods and judgment means | |
| CN105839501B (en) | A kind of automatic discharging intelligence finished bin apparatus and method of the anti-isolation of environmental protection | |
| CN105843198B (en) | Dissipate material intelligent moisture content on-line monitoring and device for reducing dust and its method | |
| CN103591931B (en) | The detection device of dumping plough material stack height | |
| CN109482327A (en) | A kind of underground crusher front-end person who protection system and method | |
| CN204241245U (en) | A kind of filter check equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |