CN110500952A - A kind of closing coal yard monorail loop mobile laser disk device for coal - Google Patents
A kind of closing coal yard monorail loop mobile laser disk device for coal Download PDFInfo
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- CN110500952A CN110500952A CN201910514617.8A CN201910514617A CN110500952A CN 110500952 A CN110500952 A CN 110500952A CN 201910514617 A CN201910514617 A CN 201910514617A CN 110500952 A CN110500952 A CN 110500952A
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- 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
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Abstract
The present invention relates to a kind of closing coal yard monorail loop mobile laser disk device for coal, belong to machinery equipment field.Coal yard monorail loop mobile laser disk device for coal is closed by circular orbit, drives positioning device, disk device for coal and driving control system composition.Closing coal yard monorail loop mobile laser disk device for coal of the invention uses monorail loop road, can realize that coal yard all standing scans disk coal according to closing coal yard actual size and scanning range broken-up laying, increase the versatility of disk device for coal；It is engaged by the closed loop motor axis upper transfer gear with run-length encoding device with driving rack, may be either that disk device for coal provides driving force, and can be used for disk device for coal and position from primary feedback, the difficulty of control system will be greatly simplified in this way；It by the way of load-carrying bearing combination directive wheel load-bearing positioning, can guarantee that rack-and-pinion effectively engages, so as to improve the precision of disk device for coal positioning, therefore the precision of scan data can be effectively improved, to achieve the purpose that accurate disk coal.
Description
Technical field
The present invention relates to a kind of closing coal yard monorail loop mobile laser disk device for coal, belong to machinery equipment field.
Background technique
Dynamic monitoring must be carried out to the coal in coal yard to reduce the production cost of Thermal Power Enterprises power generation, but due to can not
The coal consumption of boiler controller system fire coal is counted, so current the case where being all coal existing using coal yard of making an inventory adjusts coal burning
The relation between supply and demand, that is, the disk coal that industry is commonly called as.Disk coal mode is divided into two kinds at present, and one is artificial disc coals, because of labor intensity
Greatly, disk coal efficiency and accuracy are low, do not meet the requirement of existing lean production, eliminate substantially；Another is laser coal checking,
Laser scanner scans coal yard is mainly utilized, coal surface three dimension point cloud chart is generated, by host computer disk coal software to a cloud
Data are handled, and the perspective view of tested coal pile volume is generated, and the volume of tested coal is calculated, and finally obtain placing coal knot
Fruit.
At present laser coal checking be divided into it is fixed with it is mobile.Wherein in fixed disk coal mode, Chinese patent is public
CN109029259A, entitled " a kind of fixed disk coal method and system of closing coal yard " of innovation and creation, discloses a kind of envelope
The fixed disk coal method of coal yard is closed, the more disk coal scanners with rotary head are fixedly mounted on to the default position of closing coal yard
It sets, eliminates overlapped information and garbage using Data Integration by subregion block scan, be finally reached disk coal non-blind area.
Disadvantage is that the program needs more desk tray coal scanner cooperations, disk coal is at high cost, while not only Data Integration difficulty is big,
And Data Integration hub disk coal error is unable to control, and in addition the program is not able to satisfy fixed point subregion disk coal, by closing coal yard place
Size-dependence, disk coal versatility is not strong, need to independently be customized according to place size.
In mobile disk coal, Chinese patent announces CN109110515A, a kind of entitled " closing coal yard of innovation and creation
Mobile disk coal trolley " and Chinese patent announce CN107402052A, a kind of entitled " intelligence from walking of innovation and creation
Heap bulk measurement system ", above-mentioned two patent application case, which is disclosed, carries scanner using wheeled mobile device on double-rail track,
The disk coal scheme positioned using run-length encoding device to running gear, two schemes are able to achieve the real time inventory to stock ground, from
Dynamicization degree is higher, disadvantage is that two schemes are all made of double-rail track, therefore the requirement to track installation is high, while by
The scanning range of laser coal inventory instrument limits, and needs a plurality of tracks equipment to carry out disk coal to coal yard in same big type coal field, therefore not
The cost of disk coal is increased only, and increases the difficulty for writing disk coal software systems, in addition above-mentioned two scheme is only applicable to rectangular
Coal yard, versatility are insufficient.
In other mobile disk coals, Chinese patent announces CN104071548A, a kind of entitled " cantilevered of innovation and creation
Bucket-wheel stacker reclaimer and its disk coal method ", this application discloses swept by the way that laser scanner to be mounted on bucket wheel machine cantilever
The mode for obtaining coal yard coal load quantity is retouched, disadvantage is that bucket wheel machine belongs to heavy-duty machinery, when unlatching itself trembles to scanning
Data have an impact, while bucket wheel machine self poisoning precision has an impact to the data of laser scanner scans, to can greatly increase
The error of disk coal.In addition to this, Chinese patent announces CN108596914A, a kind of entitled " unmanned plane disk coal of innovation and creation
Method ", this programme disclose a kind of unmanned plane disk coal method, can make an inventory the dump in semiclosed coal canopy, acquire
After the image information of dump, image information can be handled automatically, modeled, generation disk coal information, disadvantage is that should
Mode needs professional technician to operate, and working service is at high cost, while being influenced by weather, site environment factor, in addition, scanning
Instrument is mounted on unmanned plane, and the flying height stability in flight course not can guarantee, to influence the precision of disk coal.
In conclusion the mobile disk coal of either fixed or double track exists such as always in current laser coal checking
The problems such as poor universality, positioning accuracy is low and disk coal error is big, it is unable to satisfy the actual requirement of disk coal, restricts Thermal Power Enterprises
Realize the automation of stock ground feeding, digitized paces.
Summary of the invention
The problem of for current Thermal Power Enterprises disk coal, the object of the invention are intended to provide a kind of energy autonomous positioning, tool
There is the single track movable type disk device for coal of good place versatility, promote the precision of disk device for coal positioning, increases disk coal scan data
Stability and dependability, while the relation between supply and demand of production material can be adjusted according to accurate disk coal result in real time, in this way can be big
Width promotes the ability of Thermal Power Enterprises control production cost, and to achieve the goals above, this invention takes following technical schemes:
A kind of closing coal yard monorail loop mobile laser disk device for coal, it is characterised in that: closing coal yard monorail loop moves
Dynamic formula laser coal estimating device drives positioning device, disk device for coal and driving control system composition by circular orbit, circular orbit by
The i-beam track and driving rack of segmentation are constituted, and along disk coal direction, successively ring seal lifting is fixed on every section of i-beam track
On the row frame for closing coal yard ceiling, driving rack one end with teeth is inwardly arranged along circular orbit towards annular center line, every transmission
Rack gear is successively fastened on immediately below i-beam track, and driving positioning device drives platform by transmission gear, and load-bearing positioning plate adds
Strengthening tendons, load-carrying bearing, directive wheel, driving motor constitute, drive positioning device on driving platform setting circular orbit just under
Side, load-bearing positioning plate two are one group, are laid with direction along circular orbit and are symmetrically disposed at i-beam track two sides, load-bearing positioning plate
Lower end surface is fixed on driving platform upper surface, and two reinforcing ribs are symmetricly set on circular orbit two sides, each reinforcing rib bottom surface according to
Secondary to fix with driving platform upper surface, reinforcing rib side end face is connected and fixed with load-bearing positioning plate end face outside, and load-carrying bearing has two
Group, two are one group, and two groups of load-carrying bearings are contour respectively to be symmetrically disposed at circular orbit two sides, and every group of load-carrying bearing is along circular rails
Road is laid with the direction high settings such as successively, and load-carrying bearing bearing surface is movable to be placed on i-beam track upper surface, and removable pin is worn
It crosses the centre bore that bogie axle is held to be fixed on load-bearing positioning plate side end face, directive wheel two are one group, are symmetrically disposed at circular rails
Road two sides, periphery and the i-beam track side of directive wheel are in rolling contact, and the centre bore that removable pin passes through directive wheel is fastened on
Load-bearing positions in plate end face, and driving motor is laid with direction along circular orbit and is arranged, and driving motor is fixed under driving platform one end
Surface, transmission gear be fixed on across driving platform on through-hole driving motor axis on, the transmission gear flank of tooth and driving rack
Flank engagement, disk device for coal are made of connecting column, scanning workbench, laser scanner, mounting platform, omnidirectional's holder, scan work
As platform be arranged in driving positioning device driving platform underface, connecting column four be one group, be evenly arranged on scanning workbench with
It drives on the quadrangle between platform, connecting column both ends are provided with internal screw thread, and one group of bolt is worn from driving platform upper surface respectively
Cross the through-hole that is provided with and connecting column one end fasten, another group of bolt successively passed through from scanning workbench lower surface the through-hole that is provided with
The fastening of the connecting column other end, the lower surface of driving control system are fixed at right above scanning workbench, omnidirectional's holder upside-down mounting
It is fixed on the underface of scanning workbench, mounting platform is arranged between laser scanner and omnidirectional's holder, and two groups of bolts pass through
Mounting hole of the through-hole being provided on mounting platform respectively with laser scanner and omnidirectional's holder is fastenedly connected.The driving motor
For the closed-loop direct current motor with run-length encoding device.The driving control system includes control cabinet, motion control board, wirelessly
Communication device, data storage device, high definition camera device and DC power supply, for sending and receiving the movement of disk device for coal
The coal yard windrow information that location information and laser coal checking instruction, storage and transmitting panel coal laser scanner are collected into.
Due to using above technical scheme, a kind of closing coal yard monorail loop mobile laser disk device for coal of the invention
It has the advantage that
(1) monorail loop road is used not limited by coal yard condition not only when disk coal scans, it can be practical according to closing coal yard
Size and scanning range broken-up laying not only save track cost and reduce installation difficulty, be also beneficial to according to the big of each stock ground
Small situation is adjusted the length of track, and increases the versatility of track, both for annular coal yard, it can also be used to rectangular
Coal yard realizes the scanning of coal yard all standing disk coal, increases the versatility of disk device for coal；
(2) using mode is flip-chip mounted, the scan vision of scanner can not only be increased, to reduce scanner scanning model
The requirement enclosed reduces the purchase cost of laser scanner；
(3) it is engaged using the closed loop motor axis gear rack gear with encoder, can not only be used for the driving force of disk device for coal,
It can also be used for disk device for coal to position from primary feedback, the difficulty of control system will be greatly simplified in this way, enhance the energy of system rejection to disturbance
Power, to guarantee the stability of system control；
(4) it is laid with using single track I-steel, not only increases the intensity of disk coal track, moreover it is possible to effectively reduced to closing coal yard
The influence of ceiling steel construction, while the difficulty of track laying and maintenance can be reduced；
(5) in the way of load-carrying bearing combination directive wheel load-bearing positioning, it can not only effectively promote disk device for coal and run
Stability in the process, and the efficiency for guaranteeing rack and pinion engagement can be improved, improve the precision of disk device for coal positioning；
Detailed description of the invention:
Fig. 1 is a kind of global view for closing coal yard monorail loop mobile laser disk device for coal of the present invention
Fig. 2 is a kind of main view for closing coal yard monorail loop mobile laser disk device for coal of the present invention
Specific embodiment:
Technical solution of the present invention is described in further detail with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2.
A kind of closing coal yard monorail loop mobile laser disk device for coal, it is characterised in that: closing coal yard monorail loop moves
Dynamic formula laser coal estimating device drives positioning device by circular orbit, and disk device for coal and driving control system 5 form, circular orbit
It is made of the i-beam track 1 and driving rack 10 being segmented, single i-beam track 1 and driving rack 10 are isometric, circular orbit
Length of straigh line and turning radius according to closing coal yard size and scanning range determine, every section of i-beam track 1 is along disk
Successively ring seal lifting is fixed on the row frame of closing coal yard ceiling in coal direction, and the one end with teeth of driving rack 10 is along circular orbit
Inwardly arranged towards annular center line, every driving rack 10 is successively fastened on immediately below i-beam track 1, driving positioning device by
Transmission gear 2, driving platform 3, load-bearing positioning plate 11, reinforcing rib 12, load-carrying bearing 13, directive wheel 14, driving motor 15 are constituted,
The driving platform 3 in positioning device is driven to be arranged immediately below circular orbit, load-bearing positioning plate 11 two are one group, along circular rails
Road is laid with direction and is symmetrically disposed at 1 two sides of i-beam track, and 11 lower end surface of load-bearing positioning plate is fixed on driving 3 upper surface of platform,
Two reinforcing ribs 12 are symmetricly set on circular orbit two sides, and each 12 bottom surface of reinforcing rib is successively fixed with driving 3 upper surface of platform,
12 side end face of reinforcing rib is connected and fixed with 11 end face outside of load-bearing positioning plate, and load-carrying bearing 13 has two groups, and two are one group, load-carrying
Bearing 13 is mainly used for the load-bearing of entire disk device for coal, while can increase the stability of disk device for coal operation, two groups of load-carrying bearings
13 it is contour respectively be symmetrically disposed at circular orbit two sides, every group of load-carrying bearing 13 is laid with that direction is successively contour to be set along circular orbit
It sets, 13 bearing surface of load-carrying bearing is movable to be placed on 1 upper surface of i-beam track, and removable pin passes through the center of load-carrying bearing 13
Hole is fixed on 11 side end face of load-bearing positioning plate, and directive wheel 14 two are one group, and directive wheel 14 is mainly used for entangling for disk device for coal
The stability of inclined and enhancement device operation is symmetrically disposed at circular orbit two sides, the periphery and i-beam track 1 of directive wheel 14
Side is in rolling contact, and the centre bore that removable pin passes through directive wheel 14 is fastened on 11 end face of load-bearing positioning plate, 15 edge of driving motor
Circular orbit be laid with direction setting, driving motor 15 be fixed on driving 3 one end lower surface of platform, transmission gear 2 be fixed on across
It drives on platform 3 on the axis of the driving motor 15 of through-hole, 2 flank of tooth of transmission gear and 10 flank engagement of driving rack, disk device for coal
By connecting column 4, scanning workbench 6, laser scanner 7, mounting platform 8, the composition of omnidirectional's holder 9, scanning workbench 6, which is arranged, to be driven
The underface of the driving platform 3 of dynamic positioning system, connecting column 4 four are one group, are evenly arranged on scanning workbench 6 and driving platform 3
Between quadrangle on, 4 both ends of connecting column are provided with internal screw thread, and one group of bolt passes through from driving 3 upper surface of platform be provided with respectively
Through-hole and 4 one end of connecting column fasten, another group of bolt successively passes through the through-hole that is provided with and connection from 6 lower surface of scanning workbench
The fastening of 4 other end of column, the lower surface of driving control system 5 are fixed at right above scanning workbench 6,9 upside-down mounting of omnidirectional's holder
It is fixed on the underface of scanning workbench 6, mounting platform 8 is arranged between laser scanner 7 and omnidirectional's holder 9, two groups of bolts
Mounting hole of the through-hole being provided on mounting platform 8 respectively with laser scanner 7 and omnidirectional's holder 9 is fastenedly connected.Laser is swept
The scanning range for retouching instrument 7 determines that omnidirectional's holder 9 can realize 360 ° of reciprocating rotaries, it is possible to increase the view of scanning according to the size of coal yard
Angle and range, the driving motor 15 are the closed-loop direct current motor with run-length encoding device.The driving control system 5 wraps
Control cabinet, motion control board, wireless communication apparatus, data storage device, high definition camera device and DC power supply are included,
For sending and receiving disk device for coal motion positions information and laser coal checking instruction, storage and transmitting panel coal laser scanner are collected
The coal yard windrow information arrived.
A kind of working principle for closing coal yard monorail loop mobile laser disk device for coal of the present invention:
After the radio transmitting device of driving control system 5, which receives control room host computer, issues the instruction of disk coal, power supply is connect
Driving motor 15 on overall device for coal, the nibbling by transmission gear 2 on axis and driving rack 10 by torque of driving motor 15
The bearing surface of the movement of crossed belt Moving plate device for coal, load-carrying bearing 13 at the uniform velocity slides on 1 inside of i-beam track, and symmetrically arranged two
A directive wheel 14 is fitted tightly over the two sides guiding sliding of i-beam track 1, carries axis on the driving motor 15 of run-length encoding device
The circle number of rotation is converted into the distance of disk device for coal walking by set formula, then long-range in real time by driving control system 5
The host computer for feeding back to control room is shown, while laser scanner 7 passes through the control program edge that driving control system 5 is set
Circular orbit to coal yard windrow situation carry out full section scanning, when windrow cannot can not be scanned due to shelter, omnidirectional
Holder 9 drives 7 scanning angle of laser scanner being fixed on mounting platform 8 to deflect after rotating by a certain angle automatically, In
Full section dump residue dump is scanned around circular orbit in the case where unobstructed, disk device for coal, which receives disk coal, terminates letter
After number, initial position is automatically returned to, then the data storage cell on disk device for coal passes to data by wireless network
The host computer of control system is handled data by host computer, obtains simultaneously display panel coal result.This disk device for coal can pass through journey
Full section scanning and time sharing segment scanning are realized in sequence setting, realize the versatility and actual effect of the scanning of disk coal.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of closing coal yard monorail loop mobile laser disk device for coal, it is characterised in that: closing coal yard monorail loop is mobile
Formula laser coal estimating device drives positioning device, disk device for coal and driving control system (5) composition, circular orbit by circular orbit
It is made of the i-beam track (1) and driving rack (10) being segmented, every section of i-beam track (1) along disk coal direction, successively seal by annular
Close lifting be fixed on closing coal yard ceiling row frame on, driving rack (10) one end with teeth along circular orbit towards annular center line to
Interior arrangement, every driving rack (10) are successively fastened on immediately below i-beam track (1), drive positioning device by transmission gear
(2), platform (3) are driven, load-bearing positioning plate (11), reinforcing rib (12), load-carrying bearing (13), directive wheel (14), driving motor
(15) it constitutes, drives the driving platform (3) in positioning device to be arranged immediately below circular orbit, load-bearing positioning plate (11) two are
One group, direction is laid with along circular orbit and is symmetrically disposed at i-beam track (1) two sides, load-bearing positioning plate (11) lower end surface is fixed on
Platform (3) upper surface is driven, two reinforcing ribs (12) are symmetricly set on circular orbit two sides, and each reinforcing rib (12) bottom surface is successively
It is fixed with driving platform (3) upper surface, reinforcing rib (12) side end face is connected and fixed with load-bearing positioning plate (11) end face outside, load-carrying
Bearing (13) has two groups, and two are one group, and two groups of load-carrying bearings (13) are contour respectively to be symmetrically disposed at circular orbit two sides, and every group
Load-carrying bearing (13) is laid with the direction high settings such as successively along circular orbit, and load-carrying bearing (13) bearing surface is movable to be placed on I-shaped
On steel track (1) upper surface, the centre bore that removable pin passes through load-carrying bearing (13) is fixed on load-bearing positioning plate (11) side end face,
Directive wheel (14) two are one group, are symmetrically disposed at circular orbit two sides, periphery and i-beam track (1) of directive wheel (14)
Side is in rolling contact, and the centre bore that removable pin passes through directive wheel (14) is fastened on load-bearing positioning plate (11) end face, driving motor
(15) it is laid with direction along circular orbit to be arranged, driving motor (15) is fixed on driving platform (3) one end lower surface, transmission gear
(2) be fixed on across driving platform (3) on through-hole driving motor (15) axis on, transmission gear (2) flank of tooth and driving rack
(10) flank engagement, disk device for coal is by connecting column (4), scanning workbench (6), laser scanner (7), mounting platform (8), omnidirectional
Holder (9) is constituted, and the underface of the driving platform (3) of driving positioning device, connecting column (4) four is arranged in scanning workbench (6)
A is one group, is evenly arranged on scanning workbench (6) and drives on the quadrangle between platform (3), connecting column (4) both ends are provided with interior
Screw thread, one group of bolt passes through the through-hole being provided with from driving platform (3) upper surface respectively and connecting column (4) one end fastens, and another group
Bolt successively passes through the through-hole being provided with from scanning workbench (6) lower surface and connecting column (4) other end fastens, driving control system
(5) lower surface is fixed at right above scanning workbench (6), and omnidirectional's holder (9) upside-down mounting is fixed on scanning workbench (6)
Underface, mounting platform (8) are arranged between laser scanner (7) and omnidirectional's holder (9), and two groups of bolts pass through mounting platform
(8) mounting hole of the through-hole being provided on respectively with laser scanner (7) and omnidirectional's holder (9) is fastenedly connected.
2. a kind of closing coal yard monorail loop mobile laser disk device for coal as described in claim 1, it is characterised in that: described
Driving motor (15) be the closed-loop direct current motor with run-length encoding device.
3. a kind of closing coal yard monorail loop mobile laser disk device for coal as described in claim 1, it is characterised in that: described
Driving control system (5) include control cabinet, motion control board, wireless communication apparatus, data storage device, high-definition camera dress
It sets and DC power supply is stored and sent out for sending and receiving disk device for coal motion positions information and laser coal checking instruction
Send the coal yard windrow information that coal laser scanner is collected into disk.
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| CN201910514617.8A CN110500952A (en) | 2019-06-14 | 2019-06-14 | A kind of closing coal yard monorail loop mobile laser disk device for coal |
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| CN201910514617.8A CN110500952A (en) | 2019-06-14 | 2019-06-14 | A kind of closing coal yard monorail loop mobile laser disk device for coal |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112284289A (en) * | 2020-10-19 | 2021-01-29 | 中建(天津)工业化建筑工程有限公司 | Full-automatic 3D scanning method for detecting quality of prefabricated part |
| CN113670237A (en) * | 2021-07-26 | 2021-11-19 | 西华大学 | Three-dimensional scanner suitable for hydraulic turbine |
| CN114279355A (en) * | 2021-11-18 | 2022-04-05 | 北京华能新锐控制技术有限公司 | Coal inventory system and method for closed coal yard |
| CN114295486A (en) * | 2021-12-22 | 2022-04-08 | 中国长江三峡集团有限公司 | Flexible liner external pressure buckling test device and method |
| CN114655722A (en) * | 2022-03-21 | 2022-06-24 | 淮河能源电力集团有限责任公司 | Scanning system for circular storage stock ground inventory |
| 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 |
| CN116929243A (en) * | 2023-03-08 | 2023-10-24 | 武汉纺织大学 | High-altitude fixed three-dimensional scene redrawing laser scanning device |
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