CN111930062A - Automatic control system of cement silo cleaning equipment - Google Patents
Automatic control system of cement silo cleaning equipment Download PDFInfo
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- CN111930062A CN111930062A CN202010750580.1A CN202010750580A CN111930062A CN 111930062 A CN111930062 A CN 111930062A CN 202010750580 A CN202010750580 A CN 202010750580A CN 111930062 A CN111930062 A CN 111930062A
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- control box
- upper computer
- shaped support
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- 238000004140 cleaning Methods 0.000 title claims abstract description 33
- 239000004568 cement Substances 0.000 title claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000004804 winding Methods 0.000 claims abstract description 6
- 238000013016 damping Methods 0.000 claims description 22
- 238000012544 monitoring process Methods 0.000 claims description 11
- 239000006096 absorbing agent Substances 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000035939 shock Effects 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000000843 powder Substances 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000007787 solid Substances 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
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention introduces an automatic control system of a cement silo cleaning device, which comprises a wireless communication module, a PLC system, a limit switch, an upper computer, a camera system, a laser range finder and a remote controller, wherein the wireless communication module is used for transmitting a control signal to the PLC system; the top PLC control box controls the winding and unwinding of the winch and the rotation of the umbrella-shaped bracket; the bottom PLC control box realizes the folding and the unfolding of the mechanical arm of the umbrella-shaped bracket and controls the starting and the stopping of the electric pick; the limit switch limits the opening angle of the mechanical arm of the umbrella-shaped bracket; the upper computer realizes the downloading of control commands and the reading of PLC system data; video image signals of the camera system are uploaded to an upper computer through a wireless router to be monitored; the laser range finder measures and transmits the actual lowering distance information of the umbrella-shaped support to the upper computer; and the PLC control box at the top of the remote controller and the PLC control box at the bottom of the remote controller transmit signals. The invention realizes the maximum efficiency of equipment operation by accurately controlling various parameters of the warehouse cleaning equipment, and meets the requirement of safe and economic operation of the equipment as much as possible.
Description
Technical Field
The invention relates to the technical field of warehouse cleaning, in particular to an automatic control system of a cement warehouse cleaning device.
Background
As the cement in the cement silo is powder, after the cement silo is used for a period of time, the powder of the cement is easy to adhere to the wall of the silo to form silo wall hanging materials, and the attachments are thicker and thicker along with the increase of the time, so that the volume of the cement silo is reduced, namely the use efficiency of the cement silo is lowered. Sometimes, the cement powder can fall off automatically to form blocks or sheets with different sizes to be mixed in the cement powder, the feeder is blocked by a light person, and the material is built on the hopper in the warehouse to form an arch, so that the material cannot be discharged when the material is overhead, and the material is cut off and the production is stopped.
The company develops a cement silo cleaning device with application number 202010031818.5 by combining the structural characteristics of a cement silo, and the device comprises a winch, a rotary support, a hydraulic station, an umbrella-shaped support, an adjustable stop iron, an oil cylinder connecting section, a rectangular pipe capable of being lengthened, an electric pick connecting end and an electric pick; the equipment can reduce the warehouse cleaning cost, improve the warehouse cleaning speed, improve the working environment of workers and have good market prospect.
For the brand-new warehouse cleaning equipment, an unformed automatic control system can be used as a reference, and meanwhile, the working environment is severe, dust is large, vibration is large, visibility is poor, and a working space is limited. Therefore, how to solve the coordination and control among all mechanical parts and between a machine and a hydraulic station and how to solve the design and selection of electric control equipment in a severe working environment to complete a set of new automatic control system and achieve the use effect of the equipment consistent with the expectation is a new difficult problem.
In order to realize the automatic control of the brand-new warehouse cleaning equipment, the best technical result and the maximum economic benefit are achieved. The automatic control system with excellent real-time performance, good stability, high reliability and high safety is configured, and has important significance for improving the expected use efficiency of the brand-new equipment and achieving the final remarkable economic benefit.
Disclosure of Invention
The invention aims to solve the technical problems and provide an automatic control system of the cement silo cleaning equipment for the novel cement silo cleaning equipment of our company, which is reliable in operation and accurately controls various parameters of the system, so that the novel cement silo cleaning equipment can operate reasonably and efficiently.
In order to achieve the purpose, the invention adopts the technical scheme that: an automatic control system of a cement silo cleaning device comprises a wireless communication module, a PLC system, a limit switch, an upper computer, a camera system, a laser range finder and a remote controller;
the wireless communication module comprises a wireless transceiving module of the PLC system, a wireless router and a wireless transceiving module of the upper computer; a wireless transceiver module and a wireless router of the PLC system are communicated with an upper computer for data transmission;
the PLC system comprises a top PLC control box and a bottom PLC control box; the top PLC control box is arranged outside the warehouse and controls the winding and unwinding of the winch and the rotation of the umbrella-shaped support; the bottom PLC control box is arranged on a hydraulic station of the warehouse cleaning equipment and controls the hydraulic station, so that the folding and the unfolding of the mechanical arm of the umbrella-shaped support are realized, and the starting and the stopping of the electric pick are controlled; the limit switch is arranged below a hydraulic station bottom plate of the warehouse cleaning equipment and limits the opening angle of the mechanical arm of the umbrella-shaped support;
the upper computer realizes the downloading of control commands and the reading of PLC system data through a wireless transceiving module of the upper computer;
the camera system comprises cameras which are respectively arranged on the mechanical arms of the umbrella-shaped support, tracks the position of the equipment and the real-time state in the monitoring library, and uploads video image signals to an upper computer through a wireless router for monitoring;
the laser range finder is arranged on the base of the winch and is used for measuring and transmitting the actual downward-moving distance information of the umbrella-shaped support to the upper computer;
the remote controller is respectively in signal transmission with the top PLC control box and the bottom PLC control box through radio frequency communication, and controls the retraction and the up-and-down movement of the mechanical arm of the umbrella-shaped support and the start-stop operation of the electric pick.
Specifically, the automatic control system further comprises a cable take-up and pay-off reel; and the cable take-up and pay-off reel is used for managing a power cable of the bottom PLC control cabinet.
Specifically, the lower side of the bottom PLC control box is provided with a damping device.
More specifically, the damping device comprises a damping seat, a damping bottom plate, a spring layer and a rubber layer; the shock absorber seat evenly sets up at bottom PLC control box downside, and damping bottom plate sets up at the shock absorber seat downside, and the spring layer sets up between damping bottom plate downside and rubber layer upside.
Specifically, the top PLC control box controls the umbrella-shaped support to rotate within an angle of 0-120 degrees.
Specifically, the opening angle of the mechanical arm of the limit switch limit umbrella-shaped support ranges from 58 degrees to 62 degrees.
When the warehouse needs to be cleaned, a command is transmitted to the top PLC control box through the upper computer, the winch is controlled to lower the umbrella-shaped support, the folded umbrella-shaped support is stopped at a proper height in the warehouse, and meanwhile, the umbrella-shaped support is controlled to be adjusted within a rotation angle of 0-120 degrees; the laser range finder measures and transmits the actual lowering distance of the umbrella-shaped support back to the upper computer, after the umbrella-shaped support is lowered to a target position by the winch, a command is transmitted to the bottom PLC control box through the upper computer to control the hydraulic station, so that the mechanical arm is automatically opened, the limit switch ensures the opening angle of the mechanical arm, the electric pick at the end part of the mechanical arm is close to the wall of the warehouse, and the electric pick is started through the upper computer or a remote controller to start the warehouse cleaning; the camera system transmits the motion state monitoring images of the mechanical arms back to the upper computer through the wireless router; after the target position is cleaned, the mechanical arm is retracted, and the winch continues to lower the umbrella-shaped support to the next target position; when the winch transfers the umbrella-shaped support downwards, the cable winding and unwinding reel automatically rotates along with gravity to transfer the cable.
The remote controller is used as a standby instruction device, and if the upper computer temporarily loses communication signals or the user thinks that the operation of the upper computer is complex, the system can be controlled by using the remote controller; the remote controller sends an umbrella-shaped support lowering command to the top PLC control cabinet through radio frequency signals, or sends a mechanical arm retracting command and an electric pick starting and stopping command to the bottom PLC control cabinet, and the two control cabinets execute the actions as before after receiving the signals to complete system functions.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. and the operation system of the warehouse cleaning equipment is monitored, the good operation of equipment such as a winch, a hydraulic station, an umbrella-shaped support mechanical arm and an electric pick is kept, possible faults are predicted, and the treatment is performed in advance.
2. The lowering position of the winch is automatically adjusted, the opening and contraction angle of the mechanical arm of the umbrella-shaped support is reasonably controlled, and the starting and stopping of the electric pick are reasonably controlled; the maximum efficiency of equipment operation is realized by accurately controlling various parameters of the warehouse cleaning equipment, and the safe and economic operation of the equipment is met as much as possible.
3. The video monitoring signals of the camera system are transmitted wirelessly, so that initial investment is saved, and the requirement that the cable is inconvenient to lay under actual working conditions is met.
4. The host computer realizes the precise control, safe operation and high integrated automation of the warehouse cleaning equipment, and also realizes the premise of operation workers and high safety production as few as possible, thereby improving the economic benefit.
Drawings
Fig. 1 is a schematic diagram of signal transmission relationship in the present patent.
Fig. 2 is a schematic diagram of a part of signal flow in this patent.
Fig. 3 is a signal flow diagram of the imaging system of the present patent.
Fig. 4 is a schematic diagram of the bottom PLC control box and damping device of this patent.
The figure is as follows: 1-a damping seat, 2-a damping bottom plate, 3-a spring layer and 4-a rubber layer.
Detailed Description
The invention is further explained below with reference to the drawings and examples, without thereby limiting the scope of protection of the invention, which is disclosed with the aim of protecting all technical modifications within the scope of the invention.
With reference to the attached drawings 1-4, the automatic control system of the cement silo cleaning equipment comprises a wireless communication module, a PLC system, a limit switch, an upper computer, a camera system, a laser range finder, a remote controller and a cable take-up and pay-off reel, wherein the PLC system is connected with the wireless communication module;
the wireless communication module comprises a wireless transceiving module of the PLC system, a wireless router and a wireless transceiving module of the upper computer; the wireless transceiver module and the wireless router of the PLC system are communicated with the host computer by adopting an S7 communication protocol for data transmission;
the PLC system comprises a top PLC control box and a bottom PLC control box, wherein the PLC systems adopt Siemens 1200-PLC and are provided with W788 wireless transceiving modules; the top PLC control box is arranged outside the warehouse and controls the winding and unwinding of the winch and the rotation of the umbrella-shaped support in an angle of 0-120 degrees; the bottom PLC control box is arranged on a hydraulic station of the warehouse cleaning equipment and controls the hydraulic station, so that the folding and the unfolding of the mechanical arm of the umbrella-shaped support are realized, and the starting and the stopping of the electric pick are controlled; a damping device is arranged on the lower side of the bottom PLC control box and comprises a damping seat 1, a damping bottom plate 2, a spring layer 3 and a rubber layer 4; damping mount 1 evenly sets up at bottom PLC control box downside, and damping mount 2 sets up at 1 downside of damping mount, and spring layer 3 sets up between 2 downside of damping mount and 4 upsides on rubber layer.
The limit switch is arranged below a hydraulic station bottom plate of the warehouse cleaning equipment, the limit switch is AC220V, the contact capacity is 6A, and the limit switch limits the mechanical arm of the umbrella-shaped support within the range of an opening angle of 58-62 degrees; and the cable take-up and pay-off reel is used for managing a power cable of the bottom PLC control cabinet.
The upper computer realizes the downloading of control commands and the reading of PLC system data through a wireless transceiving module of the upper computer; the upper computer adopts a Dell computer, i7 processor, exclusive 4G, memory 16G and solid state disk 512G; the DELL computer is provided with a high-level language programming software C #2015 edition as a development language for developing a wireless communication component to complete the communication with S7 of the PLC system, and the monitoring picture of the C # development automatic control system is utilized to realize the downloading of a control command and the reading of PLC system data; the wireless communication component is programmed with SOCKET SOCKETs.
The camera system comprises 300 ten thousand high-definition infrared monitoring network cameras which are respectively arranged on each mechanical arm of the umbrella-shaped support, the camera system tracks the position of equipment and the real-time state in a monitoring library, and video image signals are uploaded to an upper computer through an YN-AR41AP-A2/100M wireless router for monitoring.
Laser range finder sets up on the hoist engine base, measures and conveys the actual distance information of transferring of umbelliform support to the host computer, and laser range finder measuring range is 100 meters, contains switching value output, and the spacing use of warning of packing up as transferring.
The remote controller respectively carries out signal transmission with top PLC control box and bottom PLC control box through radio frequency communication, controls the receiving and releasing, the reciprocating of umbelliform support arm to and the start-stop operation of electric pick.
When the warehouse needs to be cleaned, a command is transmitted to the top PLC control box through the upper computer, the winch is controlled to lower the umbrella-shaped support, the folded umbrella-shaped support is stopped at a proper height in the warehouse, and meanwhile, the umbrella-shaped support is controlled to be adjusted within a rotation angle of 0-120 degrees; the laser range finder measures and transmits the actual lowering distance of the umbrella-shaped support back to the upper computer, after the umbrella-shaped support is lowered to a target position by the winch, a command is transmitted to the bottom PLC control box through the upper computer to control the hydraulic station, so that the mechanical arm is automatically opened, the limit switch ensures the opening angle of the mechanical arm, the electric pick at the end part of the mechanical arm is close to the wall of the warehouse, and the electric pick is started through the upper computer or a remote controller to start the warehouse cleaning; the camera system transmits the motion state monitoring images of the mechanical arms back to the upper computer through the wireless router; after the target position is cleaned, the mechanical arm is retracted, and the winch continues to lower the umbrella-shaped support to the next target position; when the winch transfers the umbrella-shaped support downwards, the cable winding and unwinding reel automatically rotates along with gravity to transfer the cable.
The remote controller is used as a standby instruction device, and if the upper computer temporarily loses communication signals or the user thinks that the operation of the upper computer is complex, the system can be controlled by using the remote controller; the remote controller sends an umbrella-shaped support lowering command to the top PLC control cabinet through radio frequency signals, or sends a mechanical arm retracting command and an electric pick starting and stopping command to the bottom PLC control cabinet, and the two control cabinets execute the actions as before after receiving the signals to complete system functions.
The present invention is not described in detail in the prior art.
The embodiments selected for the purpose of disclosing the invention, are presently considered to be suitable, it being understood, however, that the invention is intended to cover all variations and modifications of the embodiments which fall within the spirit and scope of the invention.
Claims (6)
1. The automatic control system of the cement silo cleaning equipment is characterized in that: the system comprises a wireless communication module, a PLC system, a limit switch, an upper computer, a camera system, a laser range finder and a remote controller;
the wireless communication module comprises a wireless transceiving module of the PLC system, a wireless router and a wireless transceiving module of the upper computer; a wireless transceiver module and a wireless router of the PLC system are communicated with an upper computer for data transmission;
the PLC system comprises a top PLC control box and a bottom PLC control box; the top PLC control box is arranged outside the warehouse and controls the winding and unwinding of the winch and the rotation of the umbrella-shaped support; the bottom PLC control box is arranged on a hydraulic station of the warehouse cleaning equipment and controls the hydraulic station, so that the folding and the unfolding of the mechanical arm of the umbrella-shaped support are realized, and the starting and the stopping of the electric pick are controlled; the limit switch is arranged below a hydraulic station bottom plate of the warehouse cleaning equipment and limits the opening angle of the mechanical arm of the umbrella-shaped support;
the upper computer realizes the downloading of control commands and the reading of PLC system data through a wireless transceiving module of the upper computer;
the camera system comprises cameras which are respectively arranged on the mechanical arms of the umbrella-shaped support, tracks the position of the equipment and the real-time state in the monitoring library, and uploads video image signals to an upper computer through a wireless router for monitoring;
the laser range finder is arranged on the base of the winch and is used for measuring and transmitting the actual downward-moving distance information of the umbrella-shaped support to the upper computer;
the remote controller is respectively in signal transmission with the top PLC control box and the bottom PLC control box through radio frequency communication, and controls the retraction and the up-and-down movement of the mechanical arm of the umbrella-shaped support and the start-stop operation of the electric pick.
2. The automatic control system of the cement silo cleaning equipment as claimed in claim 1, wherein: the automatic control system also comprises a cable take-up and pay-off reel.
3. The automatic control system of the cement silo cleaning equipment as claimed in claim 1, wherein: and a damping device is arranged on the lower side of the bottom PLC control box.
4. The automatic control system of the cement silo cleaning equipment as claimed in claim 3, wherein: the damping device comprises a damping seat, a damping bottom plate, a spring layer and a rubber layer; the shock absorber seat evenly sets up at bottom PLC control box downside, and damping bottom plate sets up at the shock absorber seat downside, and the spring layer sets up between damping bottom plate downside and rubber layer upside.
5. The automatic control system of the cement silo cleaning equipment as claimed in claim 1, wherein: the top PLC control box controls the umbrella-shaped support to rotate within an angle of 0-120 degrees.
6. The automatic control system of the cement silo cleaning equipment as claimed in claim 1, wherein: the angle of opening of the mechanical arm of the limit switch limit umbrella-shaped support ranges from 58 degrees to 62 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010750580.1A CN111930062A (en) | 2020-07-30 | 2020-07-30 | Automatic control system of cement silo cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010750580.1A CN111930062A (en) | 2020-07-30 | 2020-07-30 | Automatic control system of cement silo cleaning equipment |
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| CN111930062A true CN111930062A (en) | 2020-11-13 |
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| CN202010750580.1A Pending CN111930062A (en) | 2020-07-30 | 2020-07-30 | Automatic control system of cement silo cleaning equipment |
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| CN110185307A (en) * | 2019-06-03 | 2019-08-30 | 安徽理工大学 | A kind of unattended vertical circulation class mechanical type three-dimensional garage intelligence control system |
| CN111099392A (en) * | 2020-01-13 | 2020-05-05 | 中信重工机械股份有限公司 | Clear storehouse equipment of cement storehouse |
| CN111115037A (en) * | 2019-12-11 | 2020-05-08 | 山东科技大学 | Intelligent cleaning device and method for mine coal bunker |
| CN210850280U (en) * | 2019-07-19 | 2020-06-26 | 中信重工机械股份有限公司 | Clear storehouse robot in cement storehouse |
| CN111360849A (en) * | 2020-04-21 | 2020-07-03 | 惊天智能装备股份有限公司 | Grid cleaning heavy-load intelligent manipulator and control method thereof |
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2020
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|---|---|---|---|---|
| JPH05208179A (en) * | 1992-01-30 | 1993-08-20 | Ooyodo Diesel Kk | Scavenging robot for cement silo |
| CN102513995A (en) * | 2011-12-09 | 2012-06-27 | 山东科技大学 | Cement storage tank cleaning manipulator |
| CN103466344A (en) * | 2013-09-09 | 2013-12-25 | 福建省中瑞装备制造科技有限公司 | Storehouse cleaning machine for cement storehouses |
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| CN105459119A (en) * | 2016-01-15 | 2016-04-06 | 杭州国辰机器人科技有限公司 | Automatic control system for intelligent flexible reservoir cleaning robot |
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| CN110185307A (en) * | 2019-06-03 | 2019-08-30 | 安徽理工大学 | A kind of unattended vertical circulation class mechanical type three-dimensional garage intelligence control system |
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