CN112408001A - Bulk machine moving device and control method thereof - Google Patents
Bulk machine moving device and control method thereof Download PDFInfo
- Publication number
- CN112408001A CN112408001A CN202011163799.8A CN202011163799A CN112408001A CN 112408001 A CN112408001 A CN 112408001A CN 202011163799 A CN202011163799 A CN 202011163799A CN 112408001 A CN112408001 A CN 112408001A
- Authority
- CN
- China
- Prior art keywords
- bulk
- stepping motor
- base
- ball screw
- bulk machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/042—Granular 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
Abstract
The invention discloses a bulk machine moving device and a control method thereof, and the bulk machine moving device comprises a support I, a support II, a base, a moving trolley, a ball screw I, a ball screw II, a camera I and a camera II, wherein the support I is fixedly connected with the moving trolley, the ball screw I is connected with the base, the ball screw II is connected with the moving trolley, a bulk machine is arranged on the base, when the camera I and the camera II monitor a tank opening of a tank loading vehicle, a shot image is transmitted to a computer, the computer obtains a three-dimensional coordinate of the tank opening through an image processing technology, a stepping motor is controlled through a PLC (programmable logic controller), the stepping motor drives the ball screw I and the ball screw II to rotate, and then the base and the moving trolley realize displacement in the X direction and the Y direction, so that the bulk head reaches the upper part of the tank opening; at the moment, the PLC controls the lifting motor to rotate to enable the bulk head to descend, and the butt joint of the bulk head and the tank opening is completed. The bulk machine has a simple structure, the ball screw is driven by the stepping motor to move, the positioning is precise, the efficiency is high, and the full-automatic discharging of the bulk machine can be realized.
Description
Technical Field
The invention relates to the technical field of bulk machines, in particular to a bulk machine moving device and a control method thereof.
Background
The bulk loader is a channel carrier for transferring objects in a material warehouse to a bulk tank truck, and is widely applied to transportation of sand, grains, cement and the like. When the bulk machine delivers granular objects to the bulk vehicle, it is necessary to align the bulk head with the filling opening of the bulk vehicle, which is usually done by manual control on site. However, the bulk machine is inconvenient to control manually, has low efficiency and severe operation environment, and is not beneficial to the health of workers.
The Chinese patent with the application number of CN108116902A provides a three-dimensional mobile bulk machine, which is matched with a warehouse side or bottom unloading device and a dust collecting device for use, can realize semi-automatic loading of the bulk machine, still needs to be operated by workers on site, and has low efficiency and low positioning precision of a moving mechanism.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a bulk machine moving device and a control method thereof, which realize automatic positioning of bulk machine loading, have high positioning precision, do not need manual operation and improve the loading efficiency of the bulk machine.
The technical scheme adopted by the invention for solving the technical problems is as follows: a bulk machine moving device comprises a support I, a support II, a base, a moving trolley, a ball screw I and a ball screw II, and is characterized in that the support I and the support II are vertically arranged, and the support I is fixedly connected with the moving trolley;
the stepping motor I and the stepping motor II are arranged at the top end of the bracket II in parallel, and the stepping motor III and the stepping motor IV are arranged at the top end of the bracket I in parallel;
the base is located I top of support, the displacement of X direction is realized to messenger's base when I pivoted of ball, the displacement of Y direction is realized to messenger's travelling car when II rotations of ball.
Furthermore, the two limit switches I are arranged on the left side and the right side of the base, the two limit switches II are arranged on the front side and the rear side of the moving trolley, and the moving trolley or the base stops moving when touching the limit switches to protect the mobile device of the bulk machine.
Furthermore, the base is provided with a lifting motor, a speed reducer, a central rotating shaft, grooved wheels and guide wheels, the speed reducer is arranged between the lifting motor and the central rotating shaft, the central rotating shaft of the grooved wheels is provided with three grooved wheels, the central lines of the grooved wheels, the guide wheels and the steel wire ropes are positioned on the same straight line, and the lifting motor drives the central rotating shaft to rotate, so that the height of the bulk head can be adjusted.
Furthermore, the camera I and the camera II are respectively located at opposite angles of the support II and used for monitoring the position of a tank opening of the bulk vehicle.
When a camera I and a camera II monitor that a canning vehicle is still at the lower end of a bulk loading head, a shot image is transmitted to a computer, and three-dimensional coordinates of a can opening on the canning vehicle are obtained through image processing. The computer transmits the three-dimensional coordinates to the PLC, the PLC calculates pulse signals required by the motor according to the X-direction coordinates of the tank opening and controls the stepping motor I and the stepping motor II to rotate at the same speed, so that the base moves along the support I, and meanwhile, the PLC calculates pulse signals required by the motor according to the Y-direction coordinates of the tank opening and controls the stepping motor III and the stepping motor IV to rotate at the same speed, so that the moving trolley moves along the support II; when the bulk head reaches the upper part of the tank opening of the bulk vehicle, the PLC controls the lifting motor to rotate according to the height of the tank opening, so that the bulk head is lowered to the height of the tank opening, and the automatic alignment of the bulk head and the tank opening is further completed. After the material level meter monitors that the material is full, the bulk loader stops unloading, the PLC controls the lifting motor to rotate reversely, and the bulk loading head returns to the initial height to wait for next unloading.
The invention has the beneficial effects that:
(1) the invention has simple structure and high efficiency, does not need manual operation and can realize full-automatic discharging of the bulk machine;
(2) the bulk loader drives the ball screw to move through the stepping motor, and the positioning is precise.
Drawings
FIG. 1 is a top plan view of the auto-loading bulk machine of the present invention;
FIG. 2 is a side view of the auto-loading bulk machine of the present invention;
in the figure:
1-a stepping motor I, 2-a camera I, 3-a stepping motor I, 4-a support I, 5-a ball screw I, 6-a base, 7-a lifting motor, 8-a reducer, 9-a stepping motor IV, 10-a ball screw II, 11-a support II, 12-a moving trolley 12, 13-a camera II, 14-a limit switch I, 15-a central rotating shaft, 16-a grooved pulley, 17-a stepping motor II, 18-a limit switch II, 19-a guide wheel, 20-a steel wire rope, 21-a bulk head and 22-a material level meter.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
The bulk machine moving device shown in fig. 1-2 comprises a support I4, a support II 11, a base 6, a moving trolley 12, a ball screw I5 and a ball screw II 10, and is characterized in that the support I4 and the support II 11 are vertically arranged, the support I4 and the moving trolley 12 are fixedly connected, and the base 6 is positioned above the support I4; the stepping motor I3 and the stepping motor II 17 are arranged at the top end of the bracket II 11 in parallel, and the stepping motor III 1 and the stepping motor IV 9 are arranged at the top end of the bracket I4 in parallel; the two ball screws I5 are directly driven by a stepping motor I3 and a stepping motor II 17 respectively, and the two ball screws II 10 are directly driven by a stepping motor III 1 and a stepping motor IV 9 respectively; the ball screw I5 rotates and enables the base 6 to displace in the X direction, and the ball screw II 10 rotates and enables the moving trolley 12 to displace in the Y direction.
The two limit switches I14 are arranged on the left side and the right side of the base 6, the two limit switches II 20 are arranged on the front side and the rear side of the movable trolley 12, and the movable trolley 12 or the base 6 stops moving when the limit switches are touched, so that the mobile device of the bulk machine is protected at the terminal.
There are hoist motor 7, reduction gear 8, central pivot 15, sheave 16 and leading wheel 19 on the base 6, hoist motor 7 and central pivot 5 are arranged perpendicularly, there is reduction gear 8 in the middle of hoist motor 7 and the central pivot 15, there are three sheaves 16 that the interval equals on the central pivot 15, sheave 16, leading wheel 19 and wire rope 20 central line are located same straight line, the lift of driving loose dress head 21 when central pivot 15 rotates.
The camera I2 and the camera II 13 are respectively positioned at opposite angles of the bracket II 11 and are used for monitoring the position of a tank opening of the bulk vehicle and transmitting images of the position to the computer.
When a camera I2 and a camera II 13 monitor that a canning vehicle is still at the lower end of a bulk loading head, a shot image is transmitted to a computer, and three-dimensional coordinates of a can opening on the canning vehicle are obtained through image processing. The computer transmits the three-dimensional coordinates to the PLC, the PLC calculates pulse signals required by the motor according to the X-direction coordinates of the tank opening and controls the stepping motor I3 and the stepping motor II 17 to rotate at the same speed, so that the base 6 moves along the support I4, and meanwhile, the PLC calculates pulse signals required by the motor according to the Y-direction coordinates of the tank opening and controls the stepping motor III 1 and the stepping motor IV 9 to rotate at the same speed, so that the moving trolley 12 moves along the support II 11; when the bulk head 21 reaches the upper part of the tank opening of the bulk vehicle, the PLC controls the lifting motor 7 to rotate according to the height of the tank opening, so that the bulk head 21 descends to the height of the tank opening, and the automatic alignment of the bulk head and the tank opening is further completed. When the level meter 22 detects that the material is full, the PLC controls the lifting motor 7 to rotate reversely, and the bulk head 21 returns to the initial height. When the bulk machine unloads next time, the PLC drives the stepping motor I3, the stepping motor II 17, the stepping motor III 1, the stepping motor IV 9 and the lifting motor 7 again according to the position of the can opening of the bulk machine, and automatic alignment of the bulk head 21 and the position of the can opening is completed.
The automatic bulk loader discharging device is simple in structure, can realize full-automatic discharging of a bulk loader, improves the discharging efficiency, and reduces the labor intensity of workers; the bulk loader drives the ball screw to move through the stepping motor, and the positioning is precise.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (5)
1. A bulk machine moving device comprises a support I (4), a support II (11), a base (6), a moving trolley (12), a ball screw I (5) and a ball screw II (10), and is characterized in that the support I (4) and the support II (11) are vertically arranged, the support I (4) and the moving trolley (12) are fixedly connected, and a bulk machine is arranged on the base (6); the stepping motor I (3) and the stepping motor II (17) are arranged at the top end of the bracket II (11) in parallel, and the stepping motor III (1) and the stepping motor IV (9) are arranged at the top end of the bracket I (4) in parallel; the two ball screws I (5) are respectively and directly driven by a stepping motor I (3) and a stepping motor II (17), and the two ball screws II (10) are respectively and directly driven by a stepping motor III (1) and a stepping motor IV (9); the ball screw I (5) rotates and enables the base (6) to translate, and the ball screw II (10) rotates and enables the moving trolley (12) to translate.
2. The bulk machine moving device as claimed in claim 1, characterized in that the two limit switches I (14) are arranged on the left side and the right side of the base (6), the two limit switches II (20) are arranged on the front side and the rear side of the mobile trolley (12), and the base (6) or the mobile trolley (12) stops moving when the limit switches are touched.
3. The bulk machine moving device according to claim 1, characterized in that the base (6) is provided with a lifting motor (7), a speed reducer (8), a central rotating shaft (15), a grooved wheel (16) and a guide wheel (19), the speed reducer (8) is connected between the lifting motor (7) and the central rotating shaft (15), the central rotating shaft (15) is provided with three grooved wheels (16), the guide wheel (19) and the central line of the steel wire rope (20) are positioned on the same straight line, and the central rotating shaft (15) rotates to realize the lifting of the bulk head (21).
4. The bulk machine moving device as claimed in claim 1, characterized in that the camera I (2) and the camera II (13) are respectively located at opposite corners of the bracket II (11) and are used for monitoring the position of the bulk machine loading opening.
5. A control method of a bulk machine moving device, which utilizes the bulk machine with automatic loading as claimed in any claim 1-4, characterized in that when a camera I (2) and a camera II (13) monitor that a can-loading vehicle is still at the lower end of a bulk head, a shot image is transmitted to a computer, and three-dimensional coordinates of a can opening on the can-loading vehicle are obtained through image processing; the computer transmits the three-dimensional coordinates to the PLC, the PLC calculates pulse signals required by the motor according to the X-direction coordinates of the tank opening and controls the stepping motor I (3) and the stepping motor II (17) to rotate at the same speed, so that the base (6) can move in the X direction, meanwhile, the PLC calculates pulse signals required by the motor according to the Y-direction coordinates of the tank opening and controls the stepping motor III (1) and the stepping motor IV (9) to rotate at the same speed, so that the mobile trolley (12) can move in the Y direction; when the bulk head (21) reaches the upper part of the tank opening of the bulk vehicle, the PLC controls the lifting motor (7) to rotate according to the Z-direction coordinate of the tank opening, so that the bulk head (21) just descends to the height of the tank opening, and the alignment of the bulk head and the tank opening is completed; when the material level meter (22) detects that the bulk machine is full of materials, the bulk machine stops loading, the PLC controls the lifting motor (7) to rotate reversely, the bulk head (21) is controlled to return to the initial height, and the next unloading of the bulk machine is waited.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011163799.8A CN112408001A (en) | 2020-10-27 | 2020-10-27 | Bulk machine moving device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011163799.8A CN112408001A (en) | 2020-10-27 | 2020-10-27 | Bulk machine moving device and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112408001A true CN112408001A (en) | 2021-02-26 |
Family
ID=74841137
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011163799.8A Pending CN112408001A (en) | 2020-10-27 | 2020-10-27 | Bulk machine moving device and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112408001A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277338A (en) * | 2021-04-30 | 2021-08-20 | 国电汉川发电有限公司 | Coal ash unmanned operation loading method and system |
| CN113501487A (en) * | 2021-06-02 | 2021-10-15 | 深圳市奥图威尔科技有限公司 | Full-automatic alignment resetting method of fluid loading and unloading arm |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0531683A (en) * | 1991-07-25 | 1993-02-09 | Takeshi Yanagisawa | Moving mechanism |
| CN103707292A (en) * | 2013-12-30 | 2014-04-09 | 上海交通大学 | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist |
| CN205526734U (en) * | 2016-04-19 | 2016-08-31 | 上海亿博机电设备有限公司 | Feeding device of machine in bulk |
| CN106276335A (en) * | 2016-08-15 | 2017-01-04 | 江苏绿叶机械有限公司 | Moving dustless bulk carloader |
| CN107902437A (en) * | 2017-11-07 | 2018-04-13 | 烟台博特自动化设备有限公司 | It is a kind of servo-actuated for load bed bagged material intelligence carloader based on truss-like |
| CN108116902A (en) * | 2017-12-22 | 2018-06-05 | 南通升辉建材科技有限公司 | A kind of three-dimensional mobile bulk loader |
| CN207650321U (en) * | 2017-12-28 | 2018-07-24 | 郑州鼎为实业有限公司 | Touch panel automatic test device based on slide unit |
| CN109160315A (en) * | 2018-09-29 | 2019-01-08 | 中国矿业大学 | A kind of dry powder mortar production line intelligently loading system in bulk and method |
| CN110385702A (en) * | 2019-07-23 | 2019-10-29 | 唐山学院 | Door beam type metallurgical saw automatic turning machinery hand |
| CN209739830U (en) * | 2018-11-30 | 2019-12-06 | 浙江华电环保系统工程有限公司 | Special dry ash bulk loader for ash silo and slag silo unloading system |
| CN111646241A (en) * | 2020-06-04 | 2020-09-11 | 龙合智能装备制造有限公司 | Stacking cargo loading system and control method thereof |
-
2020
- 2020-10-27 CN CN202011163799.8A patent/CN112408001A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0531683A (en) * | 1991-07-25 | 1993-02-09 | Takeshi Yanagisawa | Moving mechanism |
| CN103707292A (en) * | 2013-12-30 | 2014-04-09 | 上海交通大学 | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist |
| CN205526734U (en) * | 2016-04-19 | 2016-08-31 | 上海亿博机电设备有限公司 | Feeding device of machine in bulk |
| CN106276335A (en) * | 2016-08-15 | 2017-01-04 | 江苏绿叶机械有限公司 | Moving dustless bulk carloader |
| CN107902437A (en) * | 2017-11-07 | 2018-04-13 | 烟台博特自动化设备有限公司 | It is a kind of servo-actuated for load bed bagged material intelligence carloader based on truss-like |
| CN108116902A (en) * | 2017-12-22 | 2018-06-05 | 南通升辉建材科技有限公司 | A kind of three-dimensional mobile bulk loader |
| CN207650321U (en) * | 2017-12-28 | 2018-07-24 | 郑州鼎为实业有限公司 | Touch panel automatic test device based on slide unit |
| CN109160315A (en) * | 2018-09-29 | 2019-01-08 | 中国矿业大学 | A kind of dry powder mortar production line intelligently loading system in bulk and method |
| CN209739830U (en) * | 2018-11-30 | 2019-12-06 | 浙江华电环保系统工程有限公司 | Special dry ash bulk loader for ash silo and slag silo unloading system |
| CN110385702A (en) * | 2019-07-23 | 2019-10-29 | 唐山学院 | Door beam type metallurgical saw automatic turning machinery hand |
| CN111646241A (en) * | 2020-06-04 | 2020-09-11 | 龙合智能装备制造有限公司 | Stacking cargo loading system and control method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277338A (en) * | 2021-04-30 | 2021-08-20 | 国电汉川发电有限公司 | Coal ash unmanned operation loading method and system |
| CN113501487A (en) * | 2021-06-02 | 2021-10-15 | 深圳市奥图威尔科技有限公司 | Full-automatic alignment resetting method of fluid loading and unloading arm |
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Application publication date: 20210226 |