CN112173765A - Anti-collision device and method for chute of ship loader - Google Patents
Anti-collision device and method for chute of ship loader Download PDFInfo
- Publication number
- CN112173765A CN112173765A CN202010948596.3A CN202010948596A CN112173765A CN 112173765 A CN112173765 A CN 112173765A CN 202010948596 A CN202010948596 A CN 202010948596A CN 112173765 A CN112173765 A CN 112173765A
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- chute
- arc
- thick bamboo
- distance
- end part
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
- B65G67/606—Loading or unloading ships using devices specially adapted for bulk material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Ship Loading And Unloading (AREA)
Abstract
The invention provides a device and a method for preventing a chute of a ship loader from collision, and relates to a chute of a ship loader. It has solved the problem of a ship loader swift current section of thick bamboo anticollision in prior art. This shipment machine swift current section of thick bamboo buffer stop, including swift current section of thick bamboo, be provided with distance sensor around the swift current section of thick bamboo, distance sensor detects the distance of swift current section of thick bamboo and object around with. The distance sensor is a laser ranging sensor. The chute is a telescopic chute, and the laser ranging sensor is connected below the chute platform through an angle regulator and uniformly arranged around the chute for detecting the distance between the chute platform and the surface of the coal pile/cabin below the chute. The invention can detect the safe distance of the coal pile when the chute barrel works and has higher precision and reliability. The safety detection device can detect the entrance of foreign matters such as cabin edges, flying birds and the like into the safety detection range when the chute barrel works, and improve the safety detection range of the chute barrel. Together with the control system of the ship loader, the safe operation of the chute can be effectively ensured.
Description
Technical Field
The invention belongs to the technical field of port equipment, and particularly relates to a chute of a ship loader.
Background
In the process of loading operation of the ship loader, coal or other bulk materials (coal is taken as an example below) are unloaded into a cabin through a chute, and in order to reduce dust and smooth stacking of materials in the cabin, the chute is required to be unloaded at a smaller height above a coal pile in the cabin, so that the position of a cart of the ship loader, the pitching angle, the rotating angle, the telescopic length of the chute and the like are required to be adjusted from time to time, and the chute is easy to collide with the coal pile bulge, the cabin wall, the cabin bottom and the hatch edge in the cabin in the process of loading operation.
At present, the method for preventing the sliding barrel from colliding mainly comprises detection means such as a pull rope, a pull rod, ultrasonic waves and the like. The method for pulling the rope and the pull rod mainly depends on the physical deformation or structural action of detection equipment to find the collision state of the sliding barrel, and for the telescopic sliding barrel, the rope and the pull rod need to be dynamically adjusted according to the length of the sliding barrel, so that the collision detection reliability is low, and the misjudgment rate is high. The ultrasonic method is characterized in that the distance between the peripheral object of the chute and the chute is detected by utilizing ultrasonic waves, the measurement precision is low due to the propagation characteristic of sound waves and the narrow closed space of a cabin, and echoes are more in the detection process, so that the interference is large, the deviation is easy to occur, and the error is easy to report.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a slide tube anti-collision device and method of a ship loader.
The purpose of the invention can be realized by the following technical scheme: the anti-collision device comprises a chute, wherein a distance sensor is arranged around the chute and used for detecting the distance between the chute and surrounding objects.
In certain embodiments, the distance sensor is a laser range sensor.
In some embodiments, the chute is a telescopic chute, and the laser ranging sensor is connected to the chute platform through an angle adjuster.
In some embodiments, the angle adjuster includes a first connector and a second connector, the first connector is connected to the laser distance measuring sensor, the second connector has a second end surface arc through groove connected to the bracket, the bolt passes through the second end surface arc through groove and is connected to the bracket, a first side surface arc through groove perpendicular to the first end surface arc through groove is provided on the first connector, the first connector and the second connector are connected by the bolt passing through the first side surface arc through groove, and the bracket is connected to the chute platform.
In some embodiments, the device further comprises an arc-shaped deformation frame arranged on the chute; the arc deformation frame is formed by sequentially connecting the end parts of the shearing and forking units through end part hinges, each shearing and forking unit comprises two frame rods, the two frame rods are the same in length, the two frame rods are connected through a middle hinge, the rod body on one side of the middle hinge is larger than the rod body on the other side, the end part hinge on the radial inner side of the middle hinge of the arc deformation frame is an inner end part hinge, the end part hinge on the radial outer side of the middle hinge of the arc deformation frame is an outer end part hinge, the inner end part hinge is slidably arranged on a circular guide rail, the circular guide rail is coaxially arranged with the sliding barrel, a laser ranging sensor is arranged on the outer end part hinge, and the distance between the inner end part hinge and the outer end.
In some embodiments, the arc-shaped deformation frame is controlled to rotate relative to the circular guide rail by a rotating device.
In some embodiments, an anti-collision bar is connected below the middle hinge and is parallel to the axial direction of the chute barrel.
In certain embodiments, the impact beam has a resilient section.
In some embodiments, a stress sensor is disposed on the crash bar.
A control system of the ship loader calculates the working length H of the chute according to detection data of a chute telescopic detection device, and receives distance data Li of N laser ranging sensors and an object vertically below, i =1,2 and … N. Setting Lmin = min { Li, i =1,2, … N }, and when Lmin > H and Lmin-H > R, R is a security value, the chute is in a security state currently; when 0< Lmin-H < = R, the system gives an early warning to remind the user of safety of operation; when Lmin < = H, the system collides with a foreign matter, the operation is immediately stopped, and the system is switched to a manual control operation state.
Compared with the prior art, the ship loader chute barrel anti-collision device and the method have the following advantages:
the invention can detect the safe distance of the coal pile when the chute barrel works and has higher precision and reliability. The safety detection device can detect the entrance of foreign matters such as cabin edges, flying birds and the like into the safety detection range when the chute barrel works, and improve the safety detection range of the chute barrel. Together with the control system of the ship loader, the safe operation of the chute can be effectively ensured.
The adjustment of the detection area and the detection beam density of the laser ranging sensor is realized through the arc-shaped deformation frame, so that the detection of a specific position or a shape object is realized, and the detection adaptability is wider.
Drawings
In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. Like reference numerals having different letter suffixes may represent different examples of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed herein.
FIG. 1 is a schematic diagram of a first embodiment;
FIG. 2 is a schematic illustration of a laser ranging sensor mounting location;
FIG. 3 is a schematic illustration of a laser range sensor coupled to an angle adjuster;
FIG. 4 is a schematic view of the second embodiment;
FIG. 5 is a schematic cross-sectional view of A A of FIG. 4;
FIG. 6 is a schematic view of the contraction of the arc-shaped deformation frame.
In the figure, a chute 1, a laser ranging sensor 2, a chute platform 3, a coal pile or cabin surface 4, a first connecting body 5, a first side arc-shaped through groove 501, a second connecting body 6, a second end arc-shaped through groove 601, a bracket 7, a side bolt 8, a frame rod 9, a middle hinge 901, an inner end hinge 902, an outer end hinge 903, a telescopic device 10, a circular guide rail 11, a gear ring 12, a motor 13 and a gear 14 connecting rod 18.
Detailed Description
The following are specific examples of the present invention, and the technical solutions of the present invention are further described with reference to the drawings, but the present invention is not limited to these examples, and the following embodiments do not limit the invention according to the claims. Moreover, all combinations of features described in the embodiments are not necessarily essential to the solution of the invention.
It will be understood by those of ordinary skill in the art that all directional references (e.g., above, below, upward, downward, top, bottom, left, right, vertical, horizontal, etc.) are illustratively used in the figures to aid the reader's understanding and do not imply (e.g., position, orientation, or use, etc.) a limitation on the scope of the invention, which is defined by the claims appended hereto. Additionally, the term "substantially" may refer to slight imprecision or deviation in conditions, amounts, values, or dimensions, etc., some of which may be within manufacturing or tolerance limits.
Example one
As shown in fig. 1,2 and 3, the anti-collision device and method for the chute of the ship loader comprise a chute 1, wherein a distance sensor is arranged around the chute and used for detecting the distance between the chute and surrounding objects. The distance sensor is a laser distance measuring sensor 2. The swift current section of thick bamboo is flexible swift current section of thick bamboo, laser rangefinder sensor passes through the angle regulator and connects swift current section of thick bamboo platform 3 below, evenly arranges around swift current section of thick bamboo for detect swift current section of thick bamboo platform and swift current section of thick bamboo below coal pile or cabin surface 4's distance.
The angle regulator includes first connector 5 and second connector 6, first connector with laser rangefinder sensor connects, the second connector have with leg joint's second terminal surface arc lead to groove 601, the bolt pass the second terminal surface arc lead to the groove with leg joint is provided with on the first connector and leads to groove 501 with the groove vertically first side arc of first terminal surface arc, first connector and second connector pass through the bolted connection that first side arc leads to the groove, the support with swift current section of thick bamboo platform is connected. The arc-shaped through groove can rotate relative to the bolt through slightly loosening the bolt, so that the laser ranging sensor can rotate relative to the connecting body, the first connecting body and the second connecting body can rotate relative to each other, the orientation of the laser ranging sensor can be adjusted, and the measurement direction can be adjusted.
The ship loader control system is used for receiving detection data of the chute barrel anti-collision detection device and the chute barrel telescopic detection device and judging whether the chute barrel collides with a foreign matter or is about to collide with the foreign matter according to the difference of the data of the chute barrel anti-collision detection device and the chute barrel telescopic detection device; and controlling the action of the chute tube telescopic mechanism according to the judgment result.
When the ship loader is loading in the cabin, coal falls from the chute and is accumulated on the surface of a coal pile in the cabin, and the chute anti-collision detection device detects and receives distance data L1 and L2.. LN of the N laser ranging sensors and an object vertically below in real time; the chute tube telescopic detection device monitors the number of chute tube telescopic rings in real time, and detection data are sent to a ship loader control system. The control system of the ship loader calculates the working length H of the chute, compares the working length H with Lmin = min { Li, i =1,2, … N }, and when Lmin > H and Lmin-H > R, R is a safety warning value, the chute is in a safety state currently; when 0< Lmin-H < = R, the system gives an early warning to remind the user of safety of operation; when Lmin < = H, the system collides with a foreign matter, the operation is immediately stopped, and the system is switched to a manual control operation state.
Example two
As shown in fig. 4, 5 and 6, different from the above embodiment, the utility model also comprises an arc-shaped deformation frame arranged on the chute; the arc-shaped deformation frame is formed by sequentially connecting the end parts of a shearing fork unit through end part hinges, the shearing fork unit comprises two frame rods 9, the two frame rods are the same in length, the two frame rods are connected through a middle hinge 901, the rod body on one side of the middle hinge is larger than the rod body on the other side, the end part hinge on the radial inner side of the middle hinge of the arc-shaped deformation frame is an inner end part hinge 902, the end part hinge on the radial outer side of the middle hinge of the arc-shaped deformation frame is an outer end part hinge 903, the inner end part hinge is slidably arranged on a circular guide rail 11, the circular guide rail and the chute are coaxially arranged, a laser ranging sensor is arranged on the outer end part hinge, the distance between the inner end part hinge and the outer end part hinge on the same radial direction is controlled through a telescopic device 10, the telescopic device is for example an air cylinder, the position can be fixedly, therefore, the distance between the adjacent laser ranging sensors is controlled to be changed, the detection position of the laser ranging sensors can be controlled, high-density light beam detection in the area range of a specific direction can be achieved when needed, for example, detection early warning of pointed objects in the specific direction can be achieved, the arc-shaped deformation frame can be sealed into a closed circle from head to tail under the common condition, and all-dimensional detection on the periphery of the sliding barrel is achieved.
The arc warp the frame and is rotated for circular guide by rotating device control, rotating device includes the ring gear 12 of pivoted setting on the swift current section of thick bamboo, the ring gear is passed through 14 control commentaries on classics of gear by motor 13, and telescoping device 10 passes through connecting rod 18 and ring gear connection, thereby the drive the relative circular guide of arc warp the frame rotates, thereby changes the arc warp the position of frame.
Although some terms are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention. The order of execution of the operations, steps, and the like in the apparatuses and methods shown in the specification and drawings may be implemented in any order as long as the output of the preceding process is not used in the subsequent process, unless otherwise specified. The descriptions using "first", "next", etc. for convenience of description do not imply that they must be performed in this order.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (7)
1. The utility model provides a shipment machine swift current section of thick bamboo buffer stop, includes swift current section of thick bamboo, its characterized in that, be provided with distance sensor around the swift current section of thick bamboo, distance sensor detects the swift current section of thick bamboo and the distance of object around.
2. The shipment machine chute anti-collision device of claim 1, wherein the distance sensor is a laser range sensor.
3. The anti-collision device for the chute of the ship loader of claim 2, wherein the chute is a telescopic chute, and the laser ranging sensor is connected to the chute platform through an angle regulator.
4. The anti-collision device for the chute of the ship loader of claim 3, wherein the angle adjuster comprises a first connecting body and a second connecting body, the first connecting body is connected with the laser ranging sensor, the second connecting body is provided with a second end surface arc through groove connected with a support, a bolt passes through the second end surface arc through groove to be connected with the support, a first side surface arc through groove perpendicular to the first end surface arc through groove is arranged on the first connecting body, the first connecting body and the second connecting body are connected through a bolt passing through the first side surface arc through groove, and the support is connected with the chute platform.
5. The anti-collision device for the chute of the ship loader according to claim 2, further comprising an arc-shaped deformation frame arranged on the chute; the arc deformation frame is formed by sequentially connecting the end parts of the shearing and forking units through end part hinges, each shearing and forking unit comprises two frame rods, the two frame rods are the same in length, the two frame rods are connected through a middle hinge, the rod body on one side of the middle hinge is larger than the rod body on the other side, the end part hinge on the radial inner side of the middle hinge of the arc deformation frame is an inner end part hinge, the end part hinge on the radial outer side of the middle hinge of the arc deformation frame is an outer end part hinge, the inner end part hinge is slidably arranged on a circular guide rail, the circular guide rail is coaxially arranged with the sliding barrel, a laser ranging sensor is arranged on the outer end part hinge, and the distance between the inner end part hinge and the outer end.
6. The tandem loader anti-collision device according to claim 5, wherein the arc-shaped deformation frame is controlled to rotate relative to the circular guide rail by a rotating device.
7. A method for preventing a yo-yo slide from colliding, which is characterized in that the method comprises the step of using the yo-yo slide anti-collision device of claim 3, calculating the working length H of the slide according to the detection data of the slide extension detection device by a control system of the ship, and receiving the distance data Li, i =1,2, … N between N laser ranging sensors and a vertically-below object; setting Lmin = min { Li, i =1,2, … N }, and when Lmin > H and Lmin-H > R, R is a security value, the chute is in a security state currently; when 0< Lmin-H < = R, the system gives an early warning to remind the user of safety of operation; when Lmin < = H, the system collides with a foreign matter, the operation is immediately stopped, and the system is switched to a manual control operation state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010948596.3A CN112173765A (en) | 2020-09-10 | 2020-09-10 | Anti-collision device and method for chute of ship loader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010948596.3A CN112173765A (en) | 2020-09-10 | 2020-09-10 | Anti-collision device and method for chute of ship loader |
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| CN112173765A true CN112173765A (en) | 2021-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010948596.3A Pending CN112173765A (en) | 2020-09-10 | 2020-09-10 | Anti-collision device and method for chute of ship loader |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114909549A (en) * | 2022-03-30 | 2022-08-16 | 浙江浙能乐清发电有限责任公司 | Adjustable device suitable for air film acceleration monitoring and assembling method thereof |
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| CN106312604A (en) * | 2015-07-09 | 2017-01-11 | 佛山市禾才科技服务有限公司 | Shear type gripper |
| CN107327811A (en) * | 2017-07-31 | 2017-11-07 | 广东人和照明实业有限公司 | Rotate adjustable support and the light fixture with the rotation adjustable support |
| CN110792739A (en) * | 2019-10-17 | 2020-02-14 | 广州大学 | Actuating device with hot-shrinkage and cold-expansion metamaterial characteristics |
| CN111453470A (en) * | 2020-03-31 | 2020-07-28 | 神华黄骅港务有限责任公司 | Ship loader chute mechanism, anti-collision monitoring device and anti-collision monitoring method |
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2020
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2014223989A (en) * | 2013-05-17 | 2014-12-04 | Ｉｈｉ運搬機械株式会社 | Collision prevention device of continuous unloader |
| CN106312604A (en) * | 2015-07-09 | 2017-01-11 | 佛山市禾才科技服务有限公司 | Shear type gripper |
| CN107327811A (en) * | 2017-07-31 | 2017-11-07 | 广东人和照明实业有限公司 | Rotate adjustable support and the light fixture with the rotation adjustable support |
| CN110792739A (en) * | 2019-10-17 | 2020-02-14 | 广州大学 | Actuating device with hot-shrinkage and cold-expansion metamaterial characteristics |
| CN111453470A (en) * | 2020-03-31 | 2020-07-28 | 神华黄骅港务有限责任公司 | Ship loader chute mechanism, anti-collision monitoring device and anti-collision monitoring method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114909549A (en) * | 2022-03-30 | 2022-08-16 | 浙江浙能乐清发电有限责任公司 | Adjustable device suitable for air film acceleration monitoring and assembling method thereof |
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