CN110895395A - Automatic material conveying device of material transport vehicle - Google Patents
Automatic material conveying device of material transport vehicle Download PDFInfo
- Publication number
- CN110895395A CN110895395A CN201811065341.1A CN201811065341A CN110895395A CN 110895395 A CN110895395 A CN 110895395A CN 201811065341 A CN201811065341 A CN 201811065341A CN 110895395 A CN110895395 A CN 110895395A
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- transport vehicle
- mounting plate
- material transport
- transmission
- sensor mounting
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- 239000000463 material Substances 0.000 title claims abstract description 130
- 238000009825 accumulation Methods 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 37
- 238000004891 communication Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 6
- 239000004973 liquid crystal related substance Substances 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 239000002689 soil Substances 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a material automatic conveying device of a material transport vehicle, which measures three material states of underload, unbalance load and overload by combining material accumulation characteristics through a discrete ultrasonic sensor. The automatic material conveying device has the advantages that the automatic material conveying of the material conveying vehicle is realized, the labor cost is reduced, and the operating performance and the operating efficiency of material conveying of the material conveying vehicle are improved.
Description
Technical Field
The invention relates to an automatic material conveying device of a material transport vehicle. .
Background
Along with the continuous strengthening of environmental protection and the improvement of labor cost in China, the ballast bed cleaning is carried out on the existing line, particularly on the bridge, the tunnel and the urban line, the ballast bed soil cannot be thrown to the two sides of the line, and a material transport vehicle and a cleaning machine are required to be equipped for matching operation. The material transport vehicle can transport away the dirt on the road bed under the condition of uninterrupted cleaning operation, does not need manual secondary cleaning, avoids environmental pollution and improves the cleaning efficiency. At present, MFS series produced by Austria prasuers abroad and WY series produced by iron capital high and new at home are common, but all material conveying is manually controlled, an open operating room is adopted, an operator needs to face harsh environments such as dust raising and the like every day, the material state is not easy to observe, three abnormal material states such as underload, unbalance load and overload are easily caused, and the operation is inconvenient and has potential safety hazards in rainy seasons, high temperature seasons and the like. For detecting the material state, especially to the detection of material unbalance loading state, need acquire the material outline line, but sensors such as laser and image that the two-dimensional scanning detected commonly used in the market easily receive the interference of dust, and capacitanc charge level indicator receives the influence of humidity easily, is unfavorable for the engineering application.
Disclosure of Invention
Aiming at the defects of the material transport vehicle technology, the invention provides an automatic material transport device of a material transport vehicle.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a material automatic transmission device of a material transport vehicle comprises a transmission action unit, a detection component, a transmission sequence knob, a ZigBee wireless communication module, a control system and a display, and is characterized in that the transmission action unit is a conveyer belt transmission relay and a dirt belt electromagnetic valve; the detection component comprises an ultrasonic sensor, a front end sensor mounting plate and a rear end sensor mounting plate, the ultrasonic sensor is arranged in sensor threaded holes of the front end sensor mounting plate and the rear end sensor mounting plate, the front end sensor mounting plate is fixed at a feeding position at the top of the material transport vehicle to measure underload, unbalance load and overload of the material transport vehicle, and the rear end sensor mounting plate is fixed at a discharge hole at the top of the material transport vehicle to detect whether the material is transmitted to the tail part of the material transport vehicle; the front-end sensor mounting plate is characterized in that five sensor threaded holes are arranged in the mounting plate, the distance value of the sensor threaded holes is determined according to the change range of the material accumulation angle of the material transport vehicle, an ultrasonic sensor in the sensor threaded holes measures the material height contour line of the material cross section, and the relative errors of underload, unbalance load and overload of the material transport vehicle are calculated according to the material height contour line to meet the engineering requirements; the transmission sequence knob is a scale knob and marks the transmission sequence of the material transport vehicle; the ZigBee wireless communication module is used for transmitting the material state and the working state of the material transport vehicle; the display is a liquid crystal display and displays the material state and the working state; the control system comprises a microprocessor DSPIC30F6012 and a signal processing circuit, wherein the microprocessor DSPIC30F6012 is respectively connected with the ultrasonic sensor, the transmission sequence knob, the ZigBee wireless communication module and the display through the signal processing circuit, and the microprocessor DSPIC30F6012 is used for controlling the transmission action unit, the display, the ZigBee wireless communication module and the signal processing circuit.
The invention has the beneficial effects that:
1. the automatic material conveying device has the advantages that the automatic material conveying of the material conveying vehicle is realized, the labor cost is reduced, and the operating performance and the operating efficiency of material conveying of the material conveying vehicle are improved.
2. The mode of measuring three material states of underload, unbalance load and overload by adopting the discrete ultrasonic sensor is more suitable for the environment with large dust and large humidity change compared with a laser sensor, an image sensor and a capacitance type charge level indicator.
Drawings
FIG. 1 is a block diagram of the overall system of the present invention;
FIG. 2 is a front sensor mounting plate of the present invention;
FIG. 3 is a rear sensor mounting plate of the present invention;
FIG. 4 is a layout of the present invention installed on a material handling vehicle;
FIG. 5 illustrates an overload detection error according to the present invention;
FIG. 6 illustrates an under-run detection error according to the present invention;
FIG. 7 shows the offset detection error of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments.
The whole system block diagram of the invention is shown in fig. 1, and the control system can be used for connecting the transmission action unit, the ultrasonic sensor, the transmission sequence knob, the ZigBee wireless communication module and the display. The number of the ultrasonic sensors is six, and as shown in fig. 2 and 3, the ultrasonic sensors are respectively fixed in the threaded holes of the front end sensor mounting plate and the rear end sensor mounting plate.
The front-end sensor mounting plate is fixed in a feeding area of the material transport vehicle shown in fig. 4, five fixed ultrasonic sensors are numbered as Roman numbers I-V, and three material states of underload, unbalance load and overload of materials in the feeding area are detected. The smaller the distance between the threaded holes of the front-end sensor mounting plate is, the higher the material state detection precision is, as shown in fig. 5, when the height of a material detected below an I-V ultrasonic sensor is H, an overloaded material may exist in a sensor gap, and when the material is automatically transmitted, an error exists, so that the distribution distance of the sensors needs to be reduced as much as possible to control the overloaded amount, but the number of the sensors is increased, and the engineering cost is increased. In the practical use process, the ultrasonic sensors are symmetrically distributed above the blanking interval at equal intervals d, no material is arranged at two ends of the blanking interval, 5 ultrasonic sensors are selected for the device, wherein the blanking interval is Wu, the height of the bin is H, the stacking angle of the material is gamma, when the device is automatically transmitted, obviously, the maximum material stacking area fixed at the boundary is a single-peak isosceles triangle stack, the possible maximum overload amount is the sum of the areas of 6 triangles above the figure 5S 1=3/2 d2 tan gamma, the ideal full-load cross-section area of the material S = W H- (W-Wu)2 tan gamma/4, therefore, when the control system controls the full-load automatic transmission of the material, the relative error of the material overload is delta = S1/S100%, the same is as shown in figure 6, the maximum under-load amount is also the sum of the areas of 6 triangles S2= S1, and the relative error of the material under-load is delta = S2/S100%, similarly, as shown in fig. 7, the maximum unbalance loading is also the sum of the areas of the 6 triangles S3= S1, and the relative error of the material unbalance loading is δ = S3/S × 100%. Therefore, under the condition of the relative error delta of the specified material underload, unbalance load and overload in engineering application, the distance d can be calculated by the material stacking angle gamma.
The rear end sensor mounting plate is fixed above the tail of the material conveying direction of the material conveying vehicle shown in fig. 4, the serial number of the fixed ultrasonic sensor is Roman numeral VI, and when the materials are detected to be conveyed to the tail of the vehicle, the conveying of the current material conveying vehicle is completed.
The transmission sequence knob identifies the transmission sequence of the material transport vehicle according to the material transmission direction and inputs data into the identified control system of the material transport vehicle.
The ZigBee wireless communication module sends the information of the transmission sequence, the material state, the working state and the like of the material transport vehicle acquired by the control system to the ZigBee wireless communication modules on other material transport vehicles and the screen scarifier through a wireless network, and then the information enters the control system of other vehicles.
The display displays the material state and the working state.
When the control system is positioned on the screen scarifier, the work of the electromagnetic valve of the dirty soil belt is controlled according to the material unbalance loading state, the dirty soil belt can be transversely adjusted, and the blanking position is controlled.
The control system has two working modes when being positioned on the material transport vehicle: a charging mode and a transfer mode.
The control system is in the working process of a charging mode: the method comprises the steps of obtaining I-V sensor data in a front-end sensor mounting plate, controlling automatic transmission of a material full-load state, and preventing underload and overload, wherein when the material is in the full-load state, the material height of a material cross section contour line below a feeding area of an I-V ultrasonic sensor can be obtained to be Hr, when the calculated material height is smaller than Hr, the material is underloaded, the work of a conveying belt transmission relay is stopped, the material is waited to be supplemented to the feeding area, when the calculated material height is equal to Hr, the material is full, the conveying belt transmission relay is controlled to work, the conveying belt of a bottom plate of a storage bin is enabled to convey the material forward for a certain distance, so that a feeding.
The control system is in the working process of a transmission mode: the control system controls the work of the relay of the conveying belt of the material conveying vehicle to enable the conveying belt to convey materials forwards.
After the device is started, the control system judges the material transmission sequence of the material transport vehicle through the transmission sequence knob and the ZigBee wireless communication module, the control system of the last material transport vehicle is in a loading mode, detects the material state in real time and controls full-load transmission of materials, the control systems of other material transport vehicles are in a transmission mode, the conveyor belt is controlled to transmit the materials to the feeding area of the last material transport vehicle at full speed, and the control system on the screen scarifier controls the blanking position of the dirty soil belt and adjusts the material unbalance loading of the last material transport vehicle. When the VI ultrasonic sensor at the rear end sensor mounting plate of the last material transport vehicle detects that the material is transmitted to the tail of the vehicle, the bin of the last material transport vehicle is full, and the control system sends a transmission completion signal of the last material transport vehicle to the previous material transport vehicle. After receiving a transmission completion signal of a last material transport vehicle, a control system of a previous material transport vehicle stops a conveying belt to convey materials to the last material transport vehicle, the control system switches to work in a charging mode, and after charging is completed, a transmission completion signal is sent to the previous material transport vehicle, the current material transport vehicle is a first material transport vehicle, and after the first material transport vehicle finishes charging, automatic transmission of a plurality of linked marshalling material transport vehicles is completed, and the device stops working.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that a person skilled in the art may make several modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements should be considered as the protection scope of the present invention.
Claims (2)
1. A material automatic transmission device of a material transport vehicle comprises a transmission action unit, a detection component, a transmission sequence knob, a ZigBee wireless communication module, a control system and a display, and is characterized in that the transmission action unit is a conveyer belt transmission relay and a dirt belt electromagnetic valve; the detection component comprises an ultrasonic sensor, a front end sensor mounting plate and a rear end sensor mounting plate, the ultrasonic sensor is arranged in sensor threaded holes of the front end sensor mounting plate and the rear end sensor mounting plate, the front end sensor mounting plate is fixed at the feeding position of the top of the material transport vehicle, and the rear end sensor mounting plate is fixed at the discharge hole of the top of the material transport vehicle; the transmission sequence knob is a scale knob and marks the transmission sequence of the material transport vehicle; the ZigBee wireless communication module wirelessly transmits the material state and the working state of the material transport vehicle; the display is a liquid crystal display and displays the material state and the working state; the control system comprises a microprocessor DSPIC30F6012 and a signal processing circuit, wherein the microprocessor DSPIC30F6012 is respectively connected with the ultrasonic sensor, the transmission sequence knob, the ZigBee wireless communication module and the display through the signal processing circuit, and the microprocessor DSPIC30F6012 is used for controlling the transmission action unit, the display, the ZigBee wireless communication module and the signal processing circuit.
2. The front-end sensor mounting plate according to claim 1, wherein five sensor threaded holes are provided in the mounting plate, the distance value between the sensor threaded holes is determined according to the variation range of the material accumulation angle of the material transport vehicle, the ultrasonic sensor in the sensor threaded holes measures the material height contour line of the material cross section, and the relative errors of underload, unbalance load and overload of the material transport vehicle are calculated according to the material height contour line to meet the engineering requirements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811065341.1A CN110895395A (en) | 2018-09-13 | 2018-09-13 | Automatic material conveying device of material transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811065341.1A CN110895395A (en) | 2018-09-13 | 2018-09-13 | Automatic material conveying device of material transport vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110895395A true CN110895395A (en) | 2020-03-20 |
Family
ID=69785253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811065341.1A Pending CN110895395A (en) | 2018-09-13 | 2018-09-13 | Automatic material conveying device of material transport vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110895395A (en) |
-
2018
- 2018-09-13 CN CN201811065341.1A patent/CN110895395A/en active Pending
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200813 Address after: 100081 Beijing city Haidian District Daliushu Road No. 2 Applicant after: CARS RAILWAY ENGINEERING Research Institute Applicant after: CHINA ACADEMY OF RAILWAY SCIENCES Corp.,Ltd. Address before: 100081 Beijing city Haidian District Daliushu Road No. 2 Applicant before: CARS RAILWAY ENGINEERING Research Institute |
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