CN110455185A - A kind of coal yard fixed point self-balancing measurement trolley - Google Patents
A kind of coal yard fixed point self-balancing measurement trolley Download PDFInfo
- Publication number
- CN110455185A CN110455185A CN201910742728.4A CN201910742728A CN110455185A CN 110455185 A CN110455185 A CN 110455185A CN 201910742728 A CN201910742728 A CN 201910742728A CN 110455185 A CN110455185 A CN 110455185A
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- China
- Prior art keywords
- optical axis
- plate
- fixed
- trolley
- encoder
- 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.)
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- 239000003245 coal Substances 0.000 title claims abstract description 34
- 238000005259 measurement Methods 0.000 title claims abstract description 26
- 230000003287 optical effect Effects 0.000 claims description 56
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 239000010883 coal ash Substances 0.000 description 8
- 238000009825 accumulation Methods 0.000 description 2
- 239000004071 soot Substances 0.000 description 2
- 230000005526 G1 to G0 transition Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G9/00—Methods of, or apparatus for, the determination of weight, not provided for in groups G01G1/00 - G01G7/00
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of coal yard fixed point self-balancings to measure trolley, belongs to mechanical equipment.Coal yard fixed point self-balancing measurement trolley is made of running gear for trolley, rotating mechanism, self-balancing mechanism, sweep mechanism；Coal yard fixed point self-balancing measurement running gear for trolley in the present invention is made of measurement trolley and ceiling mounted tracks, can be travelled on factory's suspending track, the rotating mechanism in the present invention is made of encoder and fixed plate, can accurately control rotation angle every time；Self-balancing mechanism in the present invention is made of swing type connector, can carry out angle offset in back and forth and right and left directions, guarantees the horizontality of scanner in the case where track uneven surface, promotes the scanning accuracy of measurement trolley；Sweep mechanism is made of scanner and fixed plate, and point level scanning can be made more steady；The present invention promotes coal yard coal amount scanning accuracy and provides a kind of reliable technical solution, make rational planning for providing foundation for coal works coal amount.
Description
Technical field
The present invention relates to a kind of coal yard fixed point self-balancings to measure trolley, belongs to machinery equipment field.
Technical background
With the expansion of power plant units and the raising of coal price, disk coal increasingly becomes indispensable one of electricity power enterprise
Link.The mode of disk coal also evolves into high-tech laser inventory coal from original artificial tape measure disk coal.The master manually taken inventory
Want principle are as follows: the coal of accumulation is subjected to shaping by bucket-wheel stacker reclaimer (taking the carrier of coal for heap) first, generally will
It is made into that comparison rule is trapezoidal or rectangle.Again by manually use tape measure measured, according to calculate its volume further according to close
Degree obtains weight.Laser inventory coal instrument cardinal principle are as follows: system measures the three-dimensional coordinate of coal surface characteristics point, by computer
Software processing calculates, and obtains the data such as the volume and weight of coal, while the 3 dimensional drawing of reproducible tested heap body.
Chinese Patent Application No. CN201811073293.0, invention and created name are a kind of " closing coal yard movable type disk coal
The problem of trolley ", the erection of track proposed in the patent there may be difference of height, does not account for the variation of coal yard circumstance of temperature difference and leads
It causes long range rail connection to occur to squeeze formation not plane, exists over long distances for this rail mounted trolley laser coal checking mode
Track sets up front and back and has the problem of difference of height, two tracks in left and right also will appear difference of height because of long-term accumulation coal ash, and at present
Trolley track antenna height is higher, is laid with universal longer, and coal ash is difficult to cleared, stops work caused by carrying out track cleaning to reduce
Loss designs a kind of self-balancing measurement trolley compensated automatically current orbit difference of height, travels and control in trolley
The horizontal position of scanner is still able to maintain when the case where inclination.
The present invention relates to the design of coal yard fixed point self-balancing trolley, target is to realize that trolley track drives to specified point and sweeps
The self-balancing retouched keeps track uneven, needs a kind of self-balancing type since coal yard track is located at factory's ceiling surface and can accumulate coal ash
Trolley adapts to the case where this uneven track, and when trolley run-off the straight in orbit, scanner automatically will be inclined because being self-possessed meeting
Surface horizontalization.
Summary of the invention
Before causing scanner to occur for the existing rail mounted laser disk matchmaker mode middle orbit injustice of solution
Afterwards or the scanning accuracy problem for the generation that tilts, provide a kind of adaptive equalization device to the scanning surface inclination angle of scanner into
Row compensation, to promote entire scan precision.
To achieve the above object, the present invention measures trolley using a kind of coal yard fixed point self-balancing.It is characterized by: coal yard is fixed
Point self-balancing measurement trolley is made of walking mechanism, rotating mechanism, self-balancing mechanism, sweep mechanism；Walking mechanism is located at most upper
Side, rotating mechanism are located at below walking mechanism, and self-balancing mechanism is located at below rotating mechanism, and sweep mechanism is located at self-balancing mechanism
Lower section.
The running gear for trolley is by measurement trolley (1), ceiling mounted tracks (2), encoder bottom fixed board (3) structure
At, it is characterised in that: measurement trolley (1) traveling in the slot of ceiling mounted tracks (2) measures trolley (1) wheel and ceiling mounted tracks (2)
Slot inner wall spacing be up to 5mm, have on encoder bottom fixed board (3) 4 counter sinks for and encoder (4) stationary phase
Even, encoder bottom fixed board (3) is mounted on the bottom plate of measurement trolley (1) by 4, edge hole；.
The rotating mechanism is by encoder (4), encoder turntable connecting plate (5), fixed bottom plate (6) structure of upper optical axis
At, it is characterised in that: encoder (4) bottom has threaded hole to connect with encoder bottom fixed board (3) screwing, encoder rotation
There is counter sink to be fixed on encoder (4) turntable on platform connecting plate (5), encoder turntable connecting plate (5) passes through 4, edge
Counter sink is fixedly linked with upper optical axis fixed bottom plate (6).
The self-balancing mechanism is, glazing axis fixing plate (7) fixed bottom plate (6) by upper optical axis, upper optical axis support side plate
(8), overhead gage (9) are deviated, swing type connector (10), lower optical axis fixed plate (11), lower optical axis support side plate (12), under offset
Baffle (13), optical axis support plate (16), bearing (17), axle sleeve (18), the shaft shoulder (19), optical axis (20) are constituted, it is characterised in that: on
Optical axis fixed bottom plate (6) is fixed on encoder turntable connecting plate (5), and a pair of offset overhead gage (9) bottom is fixed on glazing
On axis fixed bottom plate (6), optical axis support side plate (8) is fixed on optical axis fixed bottom plate (6) in a pair, a pair of offset overhead gage
(9) both ends of the surface are concordant with the upper side of optical axis support side plate (8) of a pair, and 4 pieces of board groups are at sylphon shape, both ends glazing axis fixing plate
(7) it is connected with optical axis (20) end through hole, and glazing axis fixing plate (7) is fixed with upper optical axis support side plate (8) by 4 holes
It is connected, the shaft shoulder (19) is fixedly linked with optical axis (20), and axle sleeve (18) is fixedly linked with optical axis (20), the 2 optical axis support plates in left and right
(16) between the shaft shoulder (19) and axle sleeve (18), intermediate 1 optical axis support plate (16) is located between 2 axle sleeves (18), whole
Mechanism is bilateral symmetry, and bearing (17) is embedded into the groove on optical axis support plate (16) surface, after being packed into optical axis (20), axis
Set (18) and the shaft shoulder (19) can limit the left and right offset of bearing (17).
The sweep mechanism is, scanner (15) composition, it is characterised in that: scanner fixed bottom plate (14) by lower optical axis
(15) threaded hole of bottom 4 is fixedly linked with optical axis fixed bottom plate (14).
Due to using the technology described above, a kind of coal yard of the invention fixed point self-balancing measurement trolley has the advantage that
(1) present apparatus is capable of the horizontal position of automatic leveling scanner during the car driving, prevents in raceway surface
Scanner horizontality is influenced in the case where having soot depost, to promote the precision of online coal quantity measurement；
(2) present apparatus reasonable employment scanner self weight does not need additional power driving, can simplify trolley control program with
And overall structure；
(3) in the case where trolley tilt angle is excessive, swing type connector run-off the straight, left and right directions deviates overhead gage
It can be close to prevent from deviating the excessive stability for influencing trolley with lower optical axis support side plate；
(4) horizontal measurement of trolley scanner can simplify dump three-dimensional reconstruction algorithm, reduce calculation amount needed for coordinate is converted,
It needs to be modified current offset angle with algorithm when scanner inclination measurement, influences the time of three-dimensionalreconstruction image；
(5) car wheel can be squeezed the coal ash in track to edge by the way of edge bevelling, reduced trolley and existed
Coal ash accumulates tilt angle.
Detailed description of the invention
Fig. 1 is a kind of self-balancing trolley overall diagram provided in an embodiment of the present invention
Fig. 2 is a kind of self balancing device provided in an embodiment of the present invention
Fig. 3 is a kind of self balancing device interior view provided in an embodiment of the present invention
Appended drawing reference
1. measuring trolley；2. ceiling mounted tracks；3. encoder bottom fixed board；4. encoder；5. encoder turntable connects
Plate；6. optical axis fixes bottom plate on；7. glazing axis fixing plate；Optical axis support side plate on 8.；9. deviating overhead gage；10. swing type connects
Fitting；11. lower optical axis fixed plate；12. lower optical axis support side plate；13. deviating lower baffle plate；14. the lower fixed bottom plate of optical axis；15. sweeping
Retouch instrument；16. optical axis support plate；17. bearing；18. axle sleeve；19. the shaft shoulder；20. optical axis；21. traveling wheel.
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain parts to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
Certain known features machine explanations, which may be omitted, in attached drawing will be understood by.
Specific embodiment
In description of the invention, it should be understood that unless otherwise clearly defined and limited, term " installation " " connects
Connect ", " connected ", " connecting ", " setting ", the terms such as " fixation " should broadly understood.For those of ordinary skill in the art and
Speech, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
A kind of coal yard fixed point self-balancing of the present invention measures trolley, mainly includes walking mechanism, rotating mechanism, self-balancing machine
Structure, sweep mechanism.Wherein walking mechanism refers to: there is remote control measurement trolley to sail in the enterprising every trade of ceiling mounted tracks, and have
Fixed point starts and stops function；Rotating mechanism refers to that control scanner integrally carries out rotary scanning；Self-balancing wherein self-balancing machine
Structure refers to that trolley travels automatically levelling in the case where ceiling mounted tracks out-of-flatness；Sweep mechanism is by scanner and fixed board group
At to carry out fixed point scanning in coal yard dump.
Specific embodiment
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing
Embodiment 1
It measures trolley 1 and is converted to driving status from initial rest state by long-range control on ceiling mounted tracks 2, traveling is extremely
When the less orbital segment of 2 soot depost of ceiling mounted tracks, after measurement trolley 1 reaches the stable state driven at a constant speed, at this time in bearing 17
Circle is also vertically downward state by certain rotation, swing type connector 10, and 15 mounting surface of scanner is also horizontality, works as survey
Amount trolley 1 continues to travel on ceiling mounted tracks 2, when depositing coal ash injustice orbital segment by 2 surface of ceiling mounted tracks, measures trolley 1
On coal ash surface lateral tilt occurs for walking, and measurement 1 traveling wheel 21 of trolley also squeezes coal ash on track toward track interior walls two sides,
Reduce measurement 1 tilt angle of trolley, while 17 inner ring of bearing starts turning, swing type connector 10 is swung, scanner 15
Run-off the straight, scanner 15 returns horizontality after short time, and swing type connector 10 be in upper end and tilts at this time, and lower end is still
For vertically downward state, optical axis support plate 16 rotates under conditions of scanner is self-possessed around optical axis 20, and compensation measurement trolley 1 tilts
Angle, making 15 mounting surface of scanner is also horizontality, then measures trolley and reaches designated place stopping walking preparation scanning, sweeps
It retouches instrument 15 and has acquired dump data in rotary scanning measurement, and be transferred to host computer.
The foregoing is merely the general embodiments of the invention patent, are not intended to limit the scope of the invention, all
It is that equivalent changes and modifications within the scope of the patent application of the present invention, is applied directly or indirectly in relevant technical field, all
It should belong to the covering scope of the invention patent.
Claims (5)
1. a kind of coal yard fixed point self-balancing measures trolley.It is characterized by: coal yard fixed point self-balancing measurement trolley by walking mechanism,
Rotating mechanism, self-balancing mechanism, sweep mechanism composition；Walking mechanism is located at the top, and rotating mechanism is located at below walking mechanism,
Self-balancing mechanism is located at below rotating mechanism, and sweep mechanism is located at below self-balancing mechanism.
2. running gear for trolley as described in claim 1 is by measurement trolley (1), ceiling mounted tracks (2), encoder bottom is fixed
Plate (3) is constituted, it is characterised in that: measurement trolley (1) traveling in the slot of ceiling mounted tracks (2), measurement trolley (1) wheel and lifting
The slot inner wall of track (2) is deposited at regular intervals, has 4 counter sinks for solid with encoder (4) on encoder bottom fixed board (3)
Fixed to be connected, encoder bottom fixed board (3) is mounted on the bottom plate of measurement trolley (1) by 4, edge hole.
3. rotating mechanism as described in claim 1 is by encoder (4), encoder turntable connecting plate (5), upper optical axis is fixed
Bottom plate (6) is constituted, it is characterised in that: and encoder (4) bottom has threaded hole to connect with encoder bottom fixed board (3) screwing,
There is counter sink to be fixed on encoder (4) turntable on encoder turntable connecting plate (5), encoder turntable connecting plate (5)
It is fixedly linked by 4, edge counter sink and upper optical axis fixed bottom plate (6).
4. self-balancing mechanism as described in claim 1 is, glazing axis fixing plate (7) fixed bottom plate (6) by upper optical axis, upper optical axis
Support side plate (8) deviates overhead gage (9), swing type connector (10), lower optical axis fixed plate (11), lower optical axis support side plate
(12), lower baffle plate (13) are deviated, optical axis support plate (16), bearing (17), axle sleeve (18), the shaft shoulder (19), optical axis (20) composition,
Be characterized in that: upper optical axis fixed bottom plate (6) is fixed on encoder turntable connecting plate (5), a pair of offset overhead gage (9) bottom
It is fixed on optical axis fixed bottom plate (6), optical axis support side plate (8) is fixed on optical axis fixed bottom plate (6) in a pair, a pair of
The both ends of the surface for deviating overhead gage (9) are concordant with a pair of side of optical axis support side plate (8) of going up, and 4 pieces of board groups are at sylphon shape, on both ends
Optical axis fixed plate (7) is connected with optical axis (20) end through hole, and glazing axis fixing plate (7) and upper optical axis support side plate (8) are logical
It crosses 4 holes to be fixedly linked, the shaft shoulder (19) is fixedly linked with optical axis (20), and axle sleeve (18) is fixedly linked with optical axis (20), left and right 2
Optical axis support plate (16) is between the shaft shoulder (19) and axle sleeve (18), and intermediate 1 optical axis support plate (16) is located at 2 axle sleeves (18)
Between, overall mechanism is bilateral symmetry, and bearing (17) is embedded into the groove on optical axis support plate (16) surface, is packed into optical axis
(20) after, axle sleeve (18) and the shaft shoulder (19) can limit controlling for bearing (17) and deviate.
5. sweep mechanism as described in claim 1 is to fix bottom plate (14) by lower optical axis, scanner (15) is constituted, and feature exists
In: scanner (15) threaded hole of bottom 4 is fixedly linked with optical axis fixed bottom plate (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910742728.4A CN110455185A (en) | 2019-08-13 | 2019-08-13 | A kind of coal yard fixed point self-balancing measurement trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910742728.4A CN110455185A (en) | 2019-08-13 | 2019-08-13 | A kind of coal yard fixed point self-balancing measurement trolley |
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| Publication Number | Publication Date |
|---|---|
| CN110455185A true CN110455185A (en) | 2019-11-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910742728.4A Pending CN110455185A (en) | 2019-08-13 | 2019-08-13 | A kind of coal yard fixed point self-balancing measurement trolley |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114715678A (en) * | 2022-03-18 | 2022-07-08 | 华能国际电力股份有限公司上海石洞口第二电厂 | Bucket-wheel cantilever type stacker-reclaimer based on laser scanner |
| CN115046118A (en) * | 2022-05-11 | 2022-09-13 | 国网安徽省电力有限公司定远县供电公司 | Online monitoring equipment based on power system and working method thereof |
| CN115507744A (en) * | 2022-08-02 | 2022-12-23 | 中国船舶重工集团公司第七一三研究所 | Marine equipment guide rail precision measurement device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205066710U (en) * | 2015-05-28 | 2016-03-02 | 西北工业大学 | Self -balancing 3D laser scanner |
| CN109110515A (en) * | 2018-09-14 | 2019-01-01 | 武汉纺织大学 | A kind of closing coal yard movable type disk coal trolley |
-
2019
- 2019-08-13 CN CN201910742728.4A patent/CN110455185A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205066710U (en) * | 2015-05-28 | 2016-03-02 | 西北工业大学 | Self -balancing 3D laser scanner |
| CN109110515A (en) * | 2018-09-14 | 2019-01-01 | 武汉纺织大学 | A kind of closing coal yard movable type disk coal trolley |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114715678A (en) * | 2022-03-18 | 2022-07-08 | 华能国际电力股份有限公司上海石洞口第二电厂 | Bucket-wheel cantilever type stacker-reclaimer based on laser scanner |
| CN114715678B (en) * | 2022-03-18 | 2023-08-08 | 华能国际电力股份有限公司上海石洞口第二电厂 | Bucket-wheel cantilever stacker-reclaimer based on laser scanner |
| CN115046118A (en) * | 2022-05-11 | 2022-09-13 | 国网安徽省电力有限公司定远县供电公司 | Online monitoring equipment based on power system and working method thereof |
| CN115507744A (en) * | 2022-08-02 | 2022-12-23 | 中国船舶重工集团公司第七一三研究所 | Marine equipment guide rail precision measurement device |
| CN115507744B (en) * | 2022-08-02 | 2023-09-15 | 中国船舶重工集团公司第七一三研究所 | Marine equipment guide rail precision measuring device |
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Application publication date: 20191115 |