CN110006477A - The unattended big truck position calibration equipment of stacker-reclaimer - Google Patents
The unattended big truck position calibration equipment of stacker-reclaimer Download PDFInfo
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- CN110006477A CN110006477A CN201910204026.0A CN201910204026A CN110006477A CN 110006477 A CN110006477 A CN 110006477A CN 201910204026 A CN201910204026 A CN 201910204026A CN 110006477 A CN110006477 A CN 110006477A
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- card
- induction
- reclaimer
- stacker
- unattended
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
- G01D18/002—Automatic recalibration
- G01D18/004—Continuous recalibration
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unattended big truck position calibration equipments of stacker-reclaimer, comprising: is mounted on card-reading system, control system and the encoder of multiple induction systems on large vehicle walking track side ground, the inside for being mounted on cart walking mechanism；Induction system includes the guard shield for incuding magnetic card and being wrapped in outside induction magnetic card, card-reading system includes card reader ontology and card reader shell, control system connects card-reading system and encoder, during large vehicle walking, when card-reading system passes through induction system, card-reading system reads the position id information built in the induction system, the location information is passed into control system, the location information is converted cart calibrating position by control system, encoder is resetted, the present invention improves the accuracy of big truck position, so that unattended stacker-reclaimer is in advance feeding, precision is higher when retreating windrow, error is smaller, to improve heap feeding efficiency, sound assurance is provided for full-automatic unmanned heap feeding on duty.
Description
Technical field
The invention belongs to position calibration equipments, and in particular to a kind of unattended big truck position calibration equipment of stacker-reclaimer.
Background technique
The unattended stacker-reclaimer large vehicle walking position calibration method of the industries such as power plant, chemical industry, cement is in-orbit at present
Specifically several mechanical touching switchs of positions setting give encoder set (reset) in road, carry out calibration code device with this, realize system
System display position is synchronous with cart physical location.This method of calibration leads to big truck position because mechanical contact failure ratio is more
Verification inaccuracy；The calibration point of track whole process setting is very few (200-300 meters of track whole process, mechanical touching switch setting 2-4)
Lead to big truck position verification not in time；The machine that track is arranged in often can accidentally be touched by the reasons such as artificial, and then lead to big parking stall
Verification misalignment is set, correction probability is less, and journey error is big.Encoder fault or journey error seriously threaten greatly the fortune of stacker-reclaimer
Row safety.
Accordingly, it is desirable to provide a kind of be directed to the insufficient improvement project of the above-mentioned prior art.
Summary of the invention
The purpose of the present invention is to provide a kind of unattended big truck position calibration equipments of stacker-reclaimer, at least to solve mesh
The problems such as preceding big truck position machinery touching switch high failure rate is easy verification misalignment in position caused by accidentally touching, and journey error is big.
To achieve the goals above, the invention provides the following technical scheme:
A kind of big truck position calibration equipment of unattended stacker-reclaimer, comprising: induction system, the induction system are located at big
The inside in track road, the induction system include induction magnetic card and guard shield；The induction magnetic card is enclosed within outside the protection
In shell；Card-reading system, the card-reading system is located at the inside of the cart track, and is arranged on cart walking mechanism, described
Card-reading system includes card reader ontology and card reader shell, and the card reader ontology is built in the card reader shell, described
Card reader ontology is connect with the induction magnetic card by the radio frequency identification communication technology；Control system, the control system connect
The card-reading system and encoder are connect, for by the measurement position of the fixation location information of the card-reading system and the encoder
Information is combined, and controls the walking of cart；The encoder, the encoder are mounted on the driving of the cart walking mechanism
It on the axis of device, and is connect with the control system, for the measurement position information of cart to be fed back to the control system.
The unattended big truck position calibration equipment of stacker-reclaimer as described above, it is preferable that the induction system is provided with more
A, multiple induction systems are arranged at intervals on the inside of the cart track.
The unattended big truck position calibration equipment of stacker-reclaimer as described above, it is preferable that the card-reading system is provided with two
A, two card-reading systems are separately positioned on the front-end and back-end of the cart walking mechanism.
The unattended big truck position calibration equipment of stacker-reclaimer as described above, it is preferable that the induction system passes through height
Adjustable support setting is square on the ground.
The unattended big truck position calibration equipment of stacker-reclaimer as described above, it is preferable that the card reader shell is provided with
The data-interface of opening, the card reader ontology is arranged in the opening, and the card reader ontology is connected to the control
System processed.
The unattended big truck position calibration equipment of stacker-reclaimer as described above, it is preferable that the data of the card reader ontology
Interface is provided with epoxy resin sealing structure.
The unattended big truck position calibration equipment of stacker-reclaimer as described above, it is preferable that the length and width of the guard shield,
High size is respectively as follows: 200mm, 50mm, 100mm；It is described induction magnetic card length size be respectively as follows: 120mm, 10mm,
60mm。
The unattended big truck position calibration equipment of stacker-reclaimer as described above, it is preferable that the length of the card reader ontology,
Wide, high size is respectively as follows: 200mm, 30mm, 100mm；The length size of the card reader shell be respectively as follows: 250mm,
80mm、150mm。
The unattended big truck position calibration equipment of stacker-reclaimer as described above, it is preferable that the card-reading system is located at described
The surface of induction system.
Compared with the immediate prior art, technical solution provided by the invention has following excellent effect:
The big truck position calibration equipment of unattended stacker-reclaimer provided by the invention, on the inside of cart stroke section track
Induction system is arranged in ground interplanar distance, and induction system built-in sensitive magnetic card is arranged in the inside corresponding position of cart walking mechanism and reads
Card system reads the fixation location information in induction system by card-reading system, and entire induction process is contactless, reduces failure
Rate, induction system is arranged in side in orbit, avoids checksum location misalignment caused by accidentally touching.Card-reading system is by the fixed bit confidence
Breath passes to control system, while control system receives the fixation location information, also receives the survey that encoder passes over
Location information is measured, fixed location information and measurement position information are compared control system, and measurement position information value more connects
The fixation location information of nearly card-reading system is better, illustrates that large vehicle walking position is more accurate, when measurement position information and fixed position
Information compares beyond allowable range of error, and the fixation location information data that card-reading system is sent is assigned to by control system automatically
Encoder completes the position correction to encoder；Ensure the big truck position of cart physical location, encoder position, control system
It is consistent, provides accurate, reliable data for the full-automatic heap feeding of stacker-reclaimer.Multinomial measure ensures stacker-reclaimer cart
It is accurately controlled error during the feeding of advance in orbit, retrogressing windrow, heap feeding efficiency is improved, to avoid or reduce thing
Therefore the probability occurred, to realize that full-automatic heap feeding establishes sturdy basis.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.
Wherein:
Fig. 1 is the big truck position calibration equipment structural schematic diagram of unattended stacker-reclaimer of the embodiment of the present invention；
Fig. 2 is the induction system structural schematic diagram of the embodiment of the present invention；
Fig. 3 is the card-reading system structural schematic diagram of the embodiment of the present invention；
Fig. 4 is the unattended stacker-reclaimer schematic diagram of the embodiment of the present invention；
Fig. 5 is the unattended stacker-reclaimer top view of the embodiment of the present invention.
In figure: 1, induction system；11, incude magnetic card；12, guard shield；2, card-reading system；21, card reader ontology；22,
Card reader shell；23, data-interface；3, control system；4, encoder；5, cart track；6, cart walking mechanism；7, cart.
Specific embodiment
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.It should be noted that in the feelings not conflicted
Under condition, the features in the embodiments and the embodiments of the present application be can be combined with each other.
In the description of the present invention, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the present invention rather than require the present invention that must be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.Term used in the present invention " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected,
It may be a detachable connection；It can be directly connected, can also be indirectly connected by intermediate member, for the common of this field
For technical staff, the concrete meaning of above-mentioned term can be understood as the case may be.
According to a particular embodiment of the invention, as shown in Figures 1 to 5, unattended stacker-reclaimer provided by the invention is big
Truck position calibration equipment includes:
Induction system 1, induction system 1 are located at the inside of cart track 5, and the plane where induction system 1 is parallel to the ground,
Induction system 1 includes induction magnetic card 11 and guard shield 12；Induction magnetic card 11 is enclosed in guard shield 12；Guard shield 12
Length size is respectively as follows: 200mm, 50mm, 100mm；Induction magnetic card 11 length size be respectively as follows: 120mm,
10mm,60mm.It is provided with mounting hole on guard shield 12, convenient for induction system 1 to be mounted on to the ground on the inside of track by bracket
Above face, bracket is preferably brackets with height-adjustable, so conveniently adapts to the installation operating condition on out-of-flatness ground.For proof strength,
Guard shield 12 is process using polytetrafluoroethylene (PTFE), and polytetrafluoroethylene (PTFE) is commonly referred to as " non-sticking lining " or " material easy to clean ",
This material has the characteristics that antiacid alkali resistant, resists various organic solvents, is practically insoluble in all solvents.Meanwhile polytetrafluoroethyl-ne
Alkene has the characteristics that resistant to high temperature, its coefficient of friction is extremely low, and suitable for severe working environment, cart walking mechanism 6 is in cart
In operational process on track 5, the material for inevitably having upper conveyor is fallen, and adds stacker-reclaimer heap feeding shape
At a large amount of dusts, the working environment of entire 7 position calibration equipment of cart be it is very severe, using polytetrafluoroethylene material conduct
Induction magnetic card 11 is enclosed in guard shield 12 by guard shield 12, can protect induction magnetic card 11 from ring to greatest extent
Border influences, to ensure that the accuracy of measurement.In an embodiment of the present invention, induction system 1 is provided with 5,5 induction systems
Track at 50 meters, 100 meters, 150 meters, 200 meters and 250 meters of 7 stroke section of cart that system 1 is separately positioned on 300 meters of length
The ground of inside, the induction magnetic card 11 in each induction system 1 are provided with the id information of corresponding position.Incude built in magnetic card 11
Induction coil and chip, the fixed location information of built-in chip type, the i.e. id information of corresponding position, what is indicated is the induction system 1
The location information of position.When in use, card-reading system 2 is moved to the induction region of induction system 1, incudes built in magnetic card 11
Induction coil generate induced current, give chip power supply, chip issues fixed location information, and card-reading system 2 collects this and fixes
Location information.
Card-reading system 2, card-reading system 2 are located on cart walking mechanism 6, close to the inside of cart track 5, with large vehicle walking
Mechanism 6 is mobile, and card-reading system 2 is parallel corresponding with the position of induction system 1, and card-reading system 2 is located at the surface of induction system 1,
Convenient for the normal ID location information for reading induction system 1 of card-reading system 2 when cart walking mechanism 6 is mobile.Card-reading system 2 and sense
System 1 is answered to connect by RFID (Radio Frequency Identification, the radio frequency identification) communication technology.Card reading
Plane where system 2 is parallel with the plane where induction system 1；Card-reading system 2 includes outside card reader ontology 21 and card reader
Shell 22, card reader ontology 21 are built in card reader shell 22；The length size of card reader ontology 21 be respectively as follows: 200mm,
30mm,100mm；The length size of card reader shell 22 is respectively as follows: 250mm, 80mm, 150mm.Card reader shell 22 uses
Polytetrafluoroethylene material, it is ensured that card-reading system 2 is chronically at the work of normal table in harsh environments.Card reader shell 22
It is provided with opening, the data-interface 23 of card reader ontology 21 is arranged in opening, card reader is connected to control system 3, is made
Card reader ontology 21 is connect with control system 3 to carry out data transmission.Epoxy is provided at the data-interface 23 of card reader ontology 21
Resin seal structure, to achieve the purpose that dustproof and waterproof.Data-interface 23 will be drawn by cable, facilitate installation, to card reading system
2 equipment of uniting play a protective role, and realize dustproof and rainproof.For the ease of 3 data-interface 23 of matching control system, card-reading system 2 is mentioned
For the data-interface 23 of multiple standards, such as more kinds of bus/digital outputs of ModbusTCP/485/.In the embodiment of the present invention
In, there are two the settings of card-reading system 2, and the front-end and back-end of cart walking mechanism 6 are arranged in two card-reading systems 2.Pass through setting
Two card-reading systems 2, so that 7 position checkpoint of cart is increased to 10 by original 5, greatly increase verification density,
Keep 7 location information of cart more specific accurate.Meanwhile the measurement position information of two 2 matching coding devices 4 of card-reading system, it can
It realizes self-calibration function, rejects unreasonable data in time, avoid the inaccuracy of 7 location information of cart to greatest extent, really
The accurate of vehicle position information is protected.In view of the operating condition of cart walking mechanism 6 is poor, in the upper of card reader shell 22
Metal protection shell is arranged in surface and side, is also provided with metal protection shell in 12 lower surface of guard shield of induction system 1 and side,
The neither reading of impact position information in this way, and the protection of card-reading system 2 and induction system 1 is realized to the greatest extent.
Control system 3, control system 3 connect card-reading system 2 and encoder 4, for by the fixed bit confidence of card-reading system 2
The measurement position information (or actual position information) of breath (or standard location information) and encoder 4 is combined, and control is big
The walking of vehicle 7；Card-reading system 2 and induction system 1 not to it is corresponding when control system 3 control cart 7 and walk, and existed by setting
The 4 Real-time Feedback vehicle movement of encoder of wheel, when passing through next induction system 1, control system 3 is by the induction system 1
Interior id information is converted to the checksum location of cart 7, and encoder 4 resets, and cart 7 walks on.In practical application, control system
3 can be PLC (Programmable Logic Controller, programmable logic controller (PLC)).Specifically, the first of PLC is defeated
Enter end to connect with the output end of card-reading system 2, the second input terminal is connect with the output end of encoder 4, output end and coding
The input terminal of device 4 connects, so that the location information after calibration is sent to encoder 4, completes the position correction to encoder 4.
The producer of PLC can choose such as Siemens, Schneider or Rockwell.
In the present embodiment, 5 side of close cart track of induction system 1 is provided with distance-sensor, distance perception is answered
Device connects control system 3, and the induction region of distance-sensor is close to the upper surface of guard shield 12, when the protection of induction system 1
After 12 upper surface of shell is covered by sundries, distance-sensor can incude in time, and induction information is passed to control system 3,
Control system 3 passes it to operator, prompts to remove obstacles, and position caused by being blocked because of induction system 1 is avoided to believe
Breath induction misalignment.
Control system 3 generates the measurement position information of real-time reception sensed position information and encoder 4, control system 3
Information calibration statistics, counts the accuracy of measurement of encoder 4, when lower limit of the accuracy of measurement of encoder 4 lower than setting, control
System 3 processed prompts the maintenance or replacement of operator's progress encoder 4.Because encoder 4 is real-time in 7 walking process of entire cart
The location information of cart 7 is measured, therefore the normal work of encoder 4 is extremely important, it is real-time by control system 3 in the present embodiment
The state of monitoring encoder 4, the accuracy of measurement of timely statistical coding device 4, convenient for finding the measurement misalignment of encoder 4 in time,
Have great importance to the real-time and precise measurement of 7 position of cart.
Encoder 4, encoder 4 are mounted on the axis of the driving device of cart walking mechanism 6, and are connect with control system 3,
For the measurement position information of cart 7 to be fed back to control system 3.Driving device can be motor or hydraulic motor.Big garage
Walking mechanism 6 further includes traveling wheel, is connect with driving device, real to roll in cart track 5 under the drive of the drive
The forward or backward of existing cart 7 (or stacker-reclaimer cart 7).Preferably, encoder 4 and card-reading system 2 are long in cart track 5
The position consistency on direction is spent, so can directly be believed the measurement position of the fixation location information of card-reading system 2 and encoder 4
Breath is combined.
7 position calibration equipment of unattended stacker-reclaimer cart provided by the invention in operation, utilizes RFID radio frequency skill
Art, when cart 7 is advanced or retreats the extremely induction point of setting, card-reading system 2 is moved to the induction region of induction system 1, sense
It answers the induction coil built in magnetic card 11 to generate induced current, powers to chip, chip issues the absolute accurate of the induction magnetic card 11
Fixation location information, card-reading system 2 collects the fixation location information.The location information is transferred to control by card-reading system 2
System 3 while control system 3 receives the fixation location information, also receives the measurement position letter that encoder 4 passes over
Fixed location information and measurement position information are compared for breath, control system 3, and measurement position information value is closer to card reading system
The fixation location information of system 2 is better, illustrates that 7 walking position of cart is more accurate, when measurement position information and fixed bit confidence manner of breathing
Compare beyond allowable range of error, the fixation location information data that card-reading system 2 is sent is assigned to coding automatically by control system 3
Device 4 completes the position correction to encoder 4；7 actual position information of cart, encoder 4 location information, control system 3 at this time
7 location information of cart is consistent, and provides accurate, reliable data for the full-automatic heap feeding of following stacker-reclaimer.It is multinomial
Measure good control error during ensureing the advance feeding in orbit of stacker-reclaimer cart 7, retreating windrow, improves heap feeding
Efficiency, so that the probability of accident generation is avoided or reduced, to realize that full-automatic heap feeding establishes sturdy basis.
In conclusion the big truck position calibration equipment of unattended stacker-reclaimer provided by the invention, in cart stroke section
Induction system is arranged in ground interplanar distance on the inside of track, and induction system built-in sensitive magnetic card is corresponding in the inside of cart walking mechanism
Card-reading system is arranged in position, reads the fixation location information in induction system by card-reading system, which is passed
Control system is passed, while control system receives the fixation location information, also receives the measurement position that encoder passes over
Fixed location information and measurement position information are compared for confidence breath, control system, and measurement position information value is closer to reading
The fixation location information of card system is better, illustrates that large vehicle walking position is more accurate, when measurement position information and fixed location information
It compares beyond allowable range of error, the fixation location information data that card-reading system is sent is assigned to coding automatically by control system
Device completes the position correction to encoder；Ensure the cart of cart actual position information, encoder position information, control system
Location information is consistent, and provides accurate, reliable data for the full-automatic heap feeding of stacker-reclaimer.Multinomial measure ensures that heap takes
Material machine cart is accurately controlled error during material of keeping forging ahead before in cart track, retrogressing windrow, improves heap feeding efficiency, thus
The probability of accident generation is avoided or reduced, to realize that full-automatic heap feeding establishes sturdy basis.
The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of big truck position calibration equipment of unattended stacker-reclaimer, which is characterized in that the big truck position calibration equipment packet
It includes:
Induction system, the induction system are located at the inside of cart track, and the induction system includes that induction magnetic card and protection are outer
Shell；The induction magnetic card is enclosed in the guard shield；
Card-reading system, the card-reading system is located at the inside of the cart track, and is arranged on cart walking mechanism, the reading
Card system includes card reader ontology and card reader shell, and the card reader ontology is built in the card reader shell, the reading
Card device ontology is connect with the induction magnetic card by the radio frequency identification communication technology；
Control system, the control system connect the card-reading system and encoder, for by the fixed bit of the card-reading system
The measurement position information of confidence breath and the encoder is combined, and controls the walking of cart；
The encoder, the encoder are mounted on the axis of the driving device of the cart walking mechanism, and with the control
System connection, for the measurement position information of cart to be fed back to the control system.
2. the unattended big truck position calibration equipment of stacker-reclaimer as described in claim 1, which is characterized in that the induction system
Uniting, it is multiple to be provided with, and multiple induction systems are arranged at intervals on the inside of the cart track.
3. the unattended big truck position calibration equipment of stacker-reclaimer as described in claim 1, which is characterized in that the card reading system
There are two system settings, and two card-reading systems are separately positioned on the front-end and back-end of the cart walking mechanism.
4. the unattended big truck position calibration equipment of stacker-reclaimer as described in claim 1, which is characterized in that the induction system
System is square on the ground by brackets with height-adjustable setting.
5. the unattended big truck position calibration equipment of stacker-reclaimer as described in claim 1, which is characterized in that the card reader
Shell is provided with opening, and the data-interface setting of the card reader ontology connects the card reader ontology in the opening
It is connected to the control system.
6. the unattended big truck position calibration equipment of stacker-reclaimer as claimed in claim 5, which is characterized in that the card reader
Epoxy resin sealing structure is provided at the data-interface of ontology.
7. the unattended big truck position calibration equipment of stacker-reclaimer as described in claim 1, which is characterized in that outside the protection
The length size of shell is respectively as follows: 200mm, 50mm, 100mm；The length size of the induction magnetic card is respectively as follows:
120mm、10mm、60mm。
8. the unattended big truck position calibration equipment of stacker-reclaimer as described in claim 1, which is characterized in that the card reader
The length size of ontology is respectively as follows: 200mm, 30mm, 100mm；The length size of the card reader shell is respectively as follows:
250mm、80mm、150mm。
9. the unattended big truck position calibration equipment of stacker-reclaimer as described in claim 1, which is characterized in that the card reading system
System is located at the surface of the induction system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910204026.0A CN110006477A (en) | 2019-03-18 | 2019-03-18 | The unattended big truck position calibration equipment of stacker-reclaimer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910204026.0A CN110006477A (en) | 2019-03-18 | 2019-03-18 | The unattended big truck position calibration equipment of stacker-reclaimer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110006477A true CN110006477A (en) | 2019-07-12 |
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ID=67167262
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910204026.0A Pending CN110006477A (en) | 2019-03-18 | 2019-03-18 | The unattended big truck position calibration equipment of stacker-reclaimer |
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| CN (1) | CN110006477A (en) |
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| CN111115289A (en) * | 2019-12-05 | 2020-05-08 | 神华粤电珠海港煤炭码头有限责任公司 | Automatic material piling and taking wharf control method and system based on three-dimensional modeling |
| CN112506193A (en) * | 2020-11-27 | 2021-03-16 | 华能国际电力股份有限公司上海石洞口第二电厂 | Automatic monitoring protection system of cantilever type bucket wheel machine |
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