CN113443461A - Anti-collision mechanism, throwing shovel of ship loader, anti-collision method, system and device - Google Patents
Anti-collision mechanism, throwing shovel of ship loader, anti-collision method, system and device Download PDFInfo
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- CN113443461A CN113443461A CN202110638259.9A CN202110638259A CN113443461A CN 113443461 A CN113443461 A CN 113443461A CN 202110638259 A CN202110638259 A CN 202110638259A CN 113443461 A CN113443461 A CN 113443461A
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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
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Abstract
The application relates to an anti-collision mechanism, a throwing shovel of a ship loader, and an anti-collision method, system and device. Anticollision institution is applied to the throwing material shovel of shipment machine, and anticollision institution includes: the mounting piece is used for being connected with the throwing shovel; the travel switch is mechanically connected with the mounting piece and used for outputting a first trigger signal in a trigger state; one end of the anti-collision upright rod is mechanically connected with the travel switch and is used for enabling the travel switch to enter a trigger state when the anti-collision upright rod is collided and approaches the throwing shovel; the first switch is flexibly connected with the other end of the anti-collision vertical rod and used for outputting a second trigger signal when receiving force along the direction of the anti-collision vertical rod. The anti-collision mechanism has better durability and strong anti-interference capability.
Description
Technical Field
The application relates to the technical field of bulk cargo wharf shipping operation, in particular to an anti-collision mechanism, a material throwing shovel of a shipping machine, an anti-collision method, a system, a device and a computer readable storage medium.
Background
When a large amount of bulk cargo is transported, the bulk cargo needs to be loaded into the hold of a cargo ship by a ship loader, and when the ship is loaded such as to move the hold and to the hold, the throwing shovel of the ship loader is likely to collide with foreign objects on the ship.
The mechanism that is used for preventing the throwing shovel of shipment machine to bump among the conventional art is very easy to damage, and the durability is relatively poor.
Disclosure of Invention
In view of the above, it is desirable to provide an anti-collision mechanism, a throwing shovel of a ship loader, an anti-collision method, a system and a device, which have high durability.
On one hand, the embodiment of the invention provides an anti-collision mechanism which is applied to a material throwing shovel of a ship loader, and the anti-collision mechanism comprises: the mounting piece is used for being connected with the throwing shovel; the travel switch is mechanically connected with the mounting piece and used for outputting a first trigger signal in a trigger state; one end of the anti-collision upright rod is mechanically connected with the travel switch and is used for enabling the travel switch to enter a trigger state when the anti-collision upright rod is collided and approaches the throwing shovel; the first switch is flexibly connected with the other end of the anti-collision vertical rod and used for outputting a second trigger signal when receiving force along the direction of the anti-collision vertical rod.
In one embodiment, the first switch comprises a mercury tilt switch.
On the other hand, the embodiment of the invention further provides a material throwing shovel of a ship loader, the material throwing shovel comprises a first side wall and a second side wall which are oppositely arranged, and the material throwing shovel further comprises: the first side wall and the second side wall are respectively provided with an anti-collision mechanism in any one of the anti-collision mechanism embodiments; and the wireless transmission module is electrically connected with the travel switch and the first switch of the anti-collision mechanism arranged on the first side wall, and is electrically connected with the travel switch and the first switch of the anti-collision mechanism arranged on the second side wall, and is used for outputting the anti-collision signal in a wireless signal mode when receiving the first trigger signal or the second trigger signal.
In one embodiment, the throwing shovel further comprises a first tilt switch and a second tilt switch; the first tilt switch is flexibly connected with the front edge of the throwing shovel and used for outputting a third trigger signal when the first tilt switch tilts under the action of external force; the second tilt switch is flexibly connected with the rear edge of the throwing shovel and used for outputting a fourth trigger signal when the second tilt switch tilts under the action of external force; the wireless transmission module is electrically connected with the first tilt switch and the second tilt switch and used for outputting the anti-collision signal in a wireless signal mode when receiving the third trigger signal or the fourth trigger signal.
In one embodiment, the first tilt switch and the second tilt switch comprise mercury tilt switches.
In another aspect, an embodiment of the present invention further provides an anti-collision method for a ship loader, where the ship loader includes the material throwing shovel in any one of the above embodiments of the material throwing shovel, and the anti-collision method includes: acquiring an arm support angle of a ship loader; if the angle of the arm support meets the preset condition and an anti-collision signal transmitted by the wireless transmission module is received, controlling the ship loader to stop moving; the preset conditions comprise that the angle of the arm support is larger than a preset angle, or the angle of the arm support is smaller than the preset angle when the ship loader does not carry out the loading operation.
In one embodiment, the collision avoidance method further comprises: acquiring data of a belt scale of a ship loader; and judging whether the ship loader carries out loading operation or not according to the belt scale data.
In another aspect, an embodiment of the present invention further provides an anti-collision system for a ship loader, where the ship loader includes the material throwing shovel in any one of the above embodiments of the material throwing shovel, the anti-collision system includes a controller, the controller is electrically connected to the wireless transmission module, the controller includes a memory and a processor, the memory stores a computer program, and the processor executes the computer program to implement the steps in any one of the above embodiments of the anti-collision method.
In another aspect, an embodiment of the present invention further provides an anti-collision device for a ship loader, where the ship loader includes a material throwing shovel in any one of the above embodiments of the material throwing shovel, and the anti-collision device includes: the data acquisition module is used for acquiring the angle of the arm support of the ship loader; the shutdown module is used for controlling the ship loader to stop moving if the angle of the arm support meets the preset condition and receives an anti-collision signal transmitted by the wireless transmission module; the preset conditions comprise that the angle of the arm support is larger than a preset angle, or the angle of the arm support is smaller than the preset angle when the ship loader does not carry out the loading operation.
In still another aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps in any of the foregoing collision avoidance method embodiments.
Based on any one of the above embodiments, the material throwing shovel cannot directly collide with foreign matters directly in the process of moving in the direction parallel to the ground through the anti-collision vertical rod, and the travel switch outputs a first trigger signal when the anti-collision vertical rod is contacted with the foreign matters and approaches the material throwing shovel. Can judge anticollision pole setting and foreign matter contact according to first trigger signal to corresponding countermeasure can be made. Further, through the first switch of flexonics at anticollision pole setting lower extreme, export the second trigger signal before the anticollision pole setting directly collides with the object below. According to the second trigger signal, corresponding counter measures can be made, the anti-collision vertical rod can be protected from being damaged due to the fact that the anti-collision vertical rod can not collide with objects, the durability of the anti-collision mechanism is improved, and the service life of the anti-collision mechanism is prolonged. In addition, the first trigger signal and the second trigger signal are generated on the basis of physical contact, so that the interference of field operation environments such as smoke dust, coal dust and the like is not easy to occur, and the anti-interference capability is strong.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a crash mechanism in one embodiment;
FIG. 2 is a schematic structural view of a material throwing shovel in one embodiment;
FIG. 3 is a diagram of a collision avoidance scenario for the throwing shovel in one embodiment;
FIG. 4 is a schematic structural view of a material throwing shovel in another embodiment;
FIG. 5 is a diagram of a collision avoidance scenario for the throwing shovel in another embodiment;
FIG. 6 is a diagram of a collision avoidance scenario for the throwing shovel in yet another embodiment;
FIG. 7 is a schematic flow chart of a collision avoidance method of the ship loader in one embodiment;
FIG. 8 is a schematic flow chart illustrating the steps for confirming whether the loader is performing a loading operation in one embodiment;
FIG. 9 is a block diagram of a collision avoidance system of the ship loader in one embodiment;
FIG. 10 is a schematic circuit diagram of a wireless transmission module according to an embodiment;
fig. 11 is a block diagram showing the structure of a collision preventing device of the ship loader in one embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.
Spatial relational terms, such as "under," "below," "under," "over," and the like may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "under" can encompass both an orientation of above and below. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations) and the spatial descriptors used herein interpreted accordingly.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.
As mentioned in the background of the invention, the prior art crash-proof mechanism has a problem of poor durability, and the inventor researches and discovers that the problem is caused because the prior crash-proof mechanism often comprises a crash-proof upright, and when a high coal pile or goods is loaded in a cabin of a freight ship, the crash-proof upright is easy to directly impact objects in the cabin to be directly damaged during the descending process of a ship loader arm support.
For the above reasons, the present invention provides an anti-collision mechanism.
In one embodiment, the anticollision mechanism is applied to a throwing shovel of a ship loader for preventing the throwing shovel from colliding, and as shown in fig. 1, the anticollision mechanism includes a mounting member 10, a travel switch 30, a crashworthy upright 50, and a first switch 70. The mounting 10 is for connection to a throwing shovel. To facilitate the combination of the impact mechanism with the material throwing shovel, the impact mechanism is connected with the material throwing shovel through the mounting member 10. The shape of the mounting member 10 is not limited as long as it is convenient for mounting, and may be designed according to actual needs, for example, the mounting member 10 may be a plate. The mounting member 10 may be connected to the throwing shovel by welding, bolting, riveting or the like.
A travel switch 30 is mechanically coupled to the mounting member 10 for outputting a first trigger signal in a trigger state. The provision of the travel switch 30 on the mounting member 10 facilitates stable operation of the travel switch 30. One end of the anti-collision vertical rod 50 is mechanically connected with the travel switch 30, and the other end of the anti-collision vertical rod is flexibly connected with the first switch 70, so that the travel switch 30 enters a trigger state when the anti-collision vertical rod is collided and approaches the shovel. It can be understood that according to the movement track of the throwing shovel, after the anti-collision mechanism is arranged at a proper position of the throwing shovel, a certain distance exists between the anti-collision vertical rod 50 and the throwing shovel, and if foreign matters exist in the process of making the throwing shovel move parallel to the ground, the foreign matters will be firstly contacted with the anti-collision vertical rod 50 and cannot be contacted with the throwing shovel. At this time, the acting force of the foreign matter on the vertical anti-collision rod 50 will make the vertical anti-collision rod 50 have a tendency approaching to a throwing shovel, and the vertical anti-collision rod 50 drives the moving part of the travel switch 30 to move under the tendency, so that the travel switch 30 enters a trigger state, and the travel switch 30 outputs a first trigger signal.
The first switch 70 is used to output a second trigger signal when a force is applied in the direction of the crash post 50. Because the anti-collision vertical rod 50 cannot move in the direction perpendicular to the ground, the anti-collision vertical rod is greatly impacted when being subjected to force along the direction of the anti-collision vertical rod 50, and then is deformed or damaged. In particular, the lowering of the arm support of the ship loader drives the large shovel to descend together, and the anti-collision upright rod 50 of the anti-collision mechanism arranged on the large shovel is likely to contact with goods in the cabin of the freight ship, so that the force along the direction of the anti-collision upright rod 50 is applied. In order to ascertain whether the crash bar 50 will touch the cargo and other objects in the hold of the cargo vessel during lowering of the loader arm, a first switch 70 is provided. Since the first switch 70 is flexibly connected to the crash-proof upright 50, the first switch 70 can be suspended under the crash-proof upright 50, the cargo in the cargo hold of the cargo ship will contact with the first switch 70 before the first switch 70, so that the first switch 70 outputs the second trigger signal, and since the first switch 70 is flexibly connected to the crash-proof upright 50, the acting force will not be transmitted to the crash-proof upright 50. Corresponding countermeasures are taken according to the second trigger signal, so that the anti-collision vertical rod 50 can be protected from being damaged due to collision.
Based on the anti-collision mechanism in the embodiment of the invention, the material throwing shovel cannot directly collide with foreign matters directly in the process of moving in the direction parallel to the ground through the anti-collision vertical rod 50, and when the anti-collision vertical rod 50 is contacted with the foreign matters and approaches the material throwing shovel, the travel switch 30 outputs a first trigger signal. The contact between the anti-collision vertical rod 50 and the foreign matter can be judged according to the first trigger signal, and corresponding countermeasures can be taken. Further, through the first switch 70 flexibly connected to the lower end of the vertical anti-collision rod 50, the second trigger signal is output before the vertical anti-collision rod 50 directly collides with an object below. According to the second trigger signal, can make corresponding counter-measure, can protect crashproof pole setting 50 can not bump into the object and damage, improved anticollision institution's durability, prolonged anticollision institution's life. In addition, the first trigger signal and the second trigger signal are generated on the basis of physical contact, so that the interference of field operation environments such as smoke dust, coal dust and the like is not easy to occur, and the anti-interference capability is strong.
In one embodiment, the first switch 70 comprises a mercury tilt switch. It is understood that mercury has good conductivity and fluidity, and a mercury tilt switch is a tilt switch based on these two characteristics of mercury. When the mercury tilt switch is tilted by an external force, for example, when the mercury tilt switch contacts an object below the crash-proof upright 50, the mercury in the mercury tilt switch flows, and the two electrodes in the mercury tilt switch contact each other, so that the mercury tilt switch operates, and a second trigger signal is output. In some embodiments, a protective member may be provided around the mercury tilt switch to make the switch more robust.
In one embodiment, the first switch 70 is connected to the crash post 50 via an iron chain.
The embodiment of the present invention further provides a material throwing shovel of a ship loader, as shown in fig. 2, the material throwing shovel comprises a first side wall 310 and a second side wall 330 which are oppositely arranged, and an elbow 350 of the material throwing shovel is arranged between the first side wall 310 and the second side wall 330. When the ship loader carries out the shipment operation, the material falls into the swift current section of thick bamboo 100 of ship loader by the ship loader conveyer belt, again falls into perpendicularly and installs the throwing material shovel in swift current section of thick bamboo 100 bottom, and the material is thrown appointed blanking point by throwing the material shovel. The material will collide with the first side wall 310, the second side wall 330 and the elbow 350 in the process of being thrown off, so that much dust, coal dust and the like are generated, and the field working environment is complicated. The throwing shovel further comprises an anti-collision mechanism and a wireless transmission module 500 in any of the above anti-collision mechanism embodiments.
The first side wall 310 and the second side wall 330 are respectively provided with the collision avoidance mechanisms in any of the above embodiments. It will be appreciated that the cart of the loader will be controlled to travel along the length of the ship on the rails when the loader is performing a transfer operation, and that the opening of the loader throwing shovel will typically be controlled to be oriented in the width direction, i.e. towards the quay or towards the sea. At this time, if the height of the arm support of the ship loader is not enough, the first side wall 310 or the second side wall 330 of the throwing shovel collides with the ship, and as shown in fig. 3, the throwing shovel does not rise above the hatch of the cargo ship and collides with the inner wall of the cargo ship when moving the cargo ship. Based on this, the first side wall 310 and the second side wall 330 are respectively provided with the anti-collision mechanism, and in the process of moving the cabin, if a foreign object exists on the driving track of the throwing shovel, the foreign object will contact with the anti-collision upright rod 50 on the anti-collision mechanism, so that the travel switch 30 of the anti-collision mechanism outputs a first trigger signal.
The wireless transmission module 500 is electrically connected to the travel switch 30 and the first switch 70 of the anti-collision mechanism disposed on the first sidewall 310, and is electrically connected to the travel switch 30 and the first switch 70 of the anti-collision mechanism disposed on the second sidewall 330, for outputting the anti-collision signal in a wireless manner when receiving the first trigger signal or the second trigger signal. Specifically, since the throwing shovel and chute 100 are rotating parts, it is inconvenient to wire, and only a wireless signal can be used to transmit a signal. The first trigger signal and the second trigger signal can both reflect that an object collides with the anti-collision mechanism of the material throwing shovel, so that the anti-collision signal output by the wireless transmission module 500 when the first trigger signal and the second trigger signal are received can be used for reflecting that the anti-collision mechanism of the material throwing shovel collides. The arm support, the cart and the like of the ship loader can be controlled according to the anti-collision signal so as to avoid collision with the body of the throwing shovel. The wireless transmission device can be arranged on the throwing material and also on the chute 100, so long as the installation is convenient.
Based on the material throwing shovel in the embodiment of the invention, whether foreign matters collide with the material throwing shovel is detected through the anti-collision mechanisms arranged on the first side wall 310 and the second side wall 330 of the material throwing shovel, and when the foreign matters are detected, a first trigger signal or a second trigger signal is output to the wireless transmission module 500, and when the wireless transmission module 500 receives the first trigger signal or the second trigger signal, the anti-collision signal is output in a wireless signal mode to play an early warning role, the arm support, the cart and the like of the ship loader can be controlled according to the anti-collision signal, and the foreign matters can be prevented from finally colliding with the body of the material throwing shovel. Because the first trigger signal and the second trigger signal in this application all produce on the basis of physical contact, be difficult for receiving the field operation environment, like the interference of smoke and dust, coal dust etc. that the interference killing feature is strong.
In one embodiment, as shown in fig. 4, the throwing shovel further comprises a first tilt switch 80 and a second tilt switch 90. The first tilt switch 80 is flexibly connected with the front edge of the throwing shovel and is used for outputting a third trigger signal when the throwing shovel is tilted by external force. The second tilt switch 90 is flexibly connected to the rear edge of the throwing shovel and is used for outputting a fourth trigger signal when the throwing shovel is tilted by an external force. It will be understood that the throwing shovel leading edge refers to the edge of the throwing shovel elbow 350 that is distal from the chute 100 and the throwing shovel trailing edge refers to the edge of the throwing shovel elbow 350 that is proximal to the chute 100. The arm support of the ship loader is lifted, lowered, extended, retracted and the like, for example, in the process of cabin operation of the ship loader, the throwing shovel is driven to move in the ship width direction, and the throwing shovel may collide with foreign matters. Specifically, as shown in fig. 5, when the loader arm is lowered, if the hatch cover of the cargo ship is not completely opened, the front edge or the rear edge of the throwing shovel may hit the hatch cover. As also shown in fig. 6, when the loader boom is retracted, the leading edge of the throwing shovel may strike the hatch. In order to avoid the situation similar to the above, the first tilt switch 80 and the second tilt switch 90 sense the foreign object, when the first tilt switch 80 or the second tilt switch 90 contacts the foreign object, the posture thereof is tilted, and a corresponding trigger signal is output. The wireless transmission module 500 is electrically connected to the first tilt switch 80 and the second tilt switch 90, and is configured to output the anti-collision signal in a wireless signal manner when receiving the third trigger signal or the fourth trigger signal.
In one embodiment, the first tilt switch 80 and the second tilt switch 90 comprise mercury tilt switches. It is understood that mercury has good conductivity and fluidity, and a mercury tilt switch is a tilt switch based on these two characteristics of mercury. When the mercury tilt switch is tilted by an external force, the mercury in the mercury tilt switch flows, and the two electrodes in the mercury tilt switch are brought into contact with each other, thereby operating the mercury tilt switch. In some embodiments, a protective member may be provided around the mercury tilt switch to make the switch more robust.
In one embodiment, the first tilt switch 80 is connected to the leading edge of the throwing shovel via a chain, and the second tilt switch 90 is connected to the trailing edge of the throwing shovel via a chain.
The embodiment of the invention also provides an anti-collision method of the ship loader, and the ship loader comprises the throwing shovel in any one of the throwing shovel embodiments. As shown in fig. 7, the collision avoidance method includes steps S100 and S300.
And S100, acquiring the angle of the arm support of the ship loader.
It is understood that the boom angle of the loader refers to the angle between the boom of the loader and a plane parallel to the ground. An encoder corresponding to the arm support of the ship loader is arranged in the ship loader, and the arm support angle of the ship loader can be calculated through data of the encoder. The angle of the arm support of the ship loader can be acquired through an additionally arranged tilt angle sensor.
And S300, if the angle of the arm support meets the preset condition and an anti-collision signal transmitted by the wireless transmission module 500 is received, controlling the ship loader to stop moving.
The preset conditions comprise that the angle of the arm support is larger than a preset angle, or the angle of the arm support is smaller than the preset angle when the ship loader does not carry out the loading operation.
Considering the possibility that the throwing shovel does not collide in the actual cabin loading operation (not on the cabin and moving the cabin), when the cabin loading operation is carried out, the rotation and the translation of the throwing shovel can trigger the output collision avoidance signal by mistake, so the mistakenly triggered collision avoidance signal can be filtered and processed reasonably through preset conditions, and unnecessary invalid signals can be filtered. Specifically, the condition that the angle of the arm support is larger than the preset angle proves that the ship loader is in a non-operation state, and in such a condition, the large shovel collision avoidance signal is a real signal only by triggering, namely the large shovel collision avoidance signal is in contact with a foreign object, and the ship loader needs to be stopped to prevent further collision. When the angle of the arm support is smaller than the preset angle and the ship loader does not carry out the loading operation, the possibility of collision between the material throwing shovel and the foreign matter exists, and the large shovel collision avoidance signal under the condition is a real signal only by triggering, namely the large shovel collision avoidance signal is in contact with the foreign matter, and the ship loader needs to be stopped to avoid further collision.
Based on the anti-collision method in the embodiment of the invention, the ship loader is controlled to stop moving only when the anti-collision signal is received when the preset condition is met, the anti-collision signal which is triggered by mistake when the throwing shovel is unlikely to collide is effectively filtered, and the normal cabin loading operation of the ship loader is prevented from being influenced.
In one embodiment, as shown in the figure, the collision avoidance method further includes steps S500 and S510.
And S500, acquiring the data of the belt scale of the ship loader.
It will be appreciated that to calculate the total weight of the load, a belt scale is provided on the belt transport mechanism of the loader, and the belt scale data is used to reflect the weight of the objects on the belt scale.
And S510, judging whether the ship loader carries out cabin loading operation or not according to the belt scale data.
It can be understood that when the loading machine begins the operation of loading into the cabin, the belt transport mechanism can transport the goods to the swift current section of thick bamboo 100 of loading machine, throws the material shovel department and carries out the loading into the cabin, and when goods passed through the belt weigher, the belt weigher data will change, so can judge whether the loading machine is carrying out the operation of loading into the cabin according to belt weigher data.
In one embodiment, the collision avoidance method further comprises:
and if the angle of the arm support meets the preset condition and receives the anti-collision signal transmitted by the wireless transmission module 500, controlling the alarm module to output an alarm signal.
The preset conditions comprise that the angle of the arm support is larger than a preset angle, or the angle of the arm support is smaller than the preset angle when the ship loader does not carry out the loading operation.
It should be understood that, although the steps in the flowcharts of fig. 7 and 8 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 7 and 8 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the other steps or stages.
The embodiment of the invention also provides an anti-collision system of the ship loader, and the ship loader comprises the material throwing shovel in any one of the material throwing shovel embodiments. As shown in fig. 9, the collision avoidance system includes a controller 700, the controller 700 is connected to the wireless transmission module 500, the controller 700 includes a memory and a processor, the memory stores a computer program, and the processor executes the computer program to implement the following steps:
acquiring an arm support angle of a ship loader;
if the angle of the arm support meets the preset condition and an anti-collision signal transmitted by the wireless transmission module 500 is received, controlling the ship loader to stop moving; the preset conditions comprise that the angle of the arm support is larger than a preset angle, or the angle of the arm support is smaller than the preset angle when the ship loader does not carry out the loading operation.
In one embodiment, the processor of the controller 700, when executing the computer program, further performs the steps of:
acquiring data of a belt scale of a ship loader;
and judging whether the ship loader carries out loading operation or not according to the belt scale data.
In one embodiment, as shown in fig. 10, the wireless transmission module 500 includes a power supply 510 and a wireless signal transmitter 530, where the first trigger signal, the second trigger signal, the third trigger signal and the fourth trigger signal respectively correspond to one of the switch signals in fig. 10, taking the first trigger signal as an example, when the wireless transmission module 500 receives the first trigger signal, the power supply 510 supplies power to the wireless signal transmitter 530 through the switch corresponding to the first trigger signal, and the wireless signal transmitter 530 outputs the collision prevention signal in the form of a wireless signal.
In one embodiment, the collision avoidance system further includes an alarm device, and the controller 700 is electrically connected to the alarm device. The alarm device is used for outputting an alarm signal, and the processor of the controller 700 further implements the following steps when executing the computer program:
and if the angle of the arm support meets the preset condition and receives the anti-collision signal transmitted by the wireless transmission module 500, controlling the alarm module to output an alarm signal. The preset conditions comprise that the angle of the arm support is larger than a preset angle, or the angle of the arm support is smaller than the preset angle when the ship loader does not carry out the loading operation.
The embodiment of the invention also provides an anti-collision device of the ship loader, and the ship loader comprises the material throwing shovel in any one of the material throwing shovel embodiments. As shown in fig. 11, the collision avoidance device includes a data acquisition module 910 and a data acquisition module 930.
The data acquisition module 910 is configured to acquire an angle of a boom of a ship loader. The data obtaining module 930 is configured to control the ship loader to stop moving if the boom angle meets a preset condition and receives the anti-collision signal transmitted by the wireless transmission module 500. The preset conditions comprise that the angle of the arm support is larger than a preset angle, or the angle of the arm support is smaller than the preset angle when the ship loader does not carry out the loading operation.
In one embodiment the collision avoidance device further comprises a loader state determination module. The data acquisition module 910 is also used to acquire belt scale data of the ship loader. And the ship loader state judgment module is used for judging whether the ship loader is carrying out cabin loading operation according to the belt scale data.
In one embodiment the collision avoidance device further comprises an alarm module. The alarm module is used for controlling the alarm module to output an alarm signal if the angle of the arm support meets the preset condition and receives the anti-collision signal transmitted by the wireless transmission module 500. The preset conditions comprise that the angle of the arm support is larger than a preset angle, or the angle of the arm support is smaller than the preset angle when the ship loader does not carry out the loading operation.
For specific limitations of the anti-collision device, reference may be made to the above limitations of the anti-collision method, which are not described herein again. The modules in the collision avoidance device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the following steps:
and acquiring the angle of the arm support of the ship loader.
And if the angle of the arm support meets the preset condition and the anti-collision signal transmitted by the wireless transmission module 500 is received, controlling the ship loader to stop moving. The preset conditions comprise that the angle of the arm support is larger than a preset angle, or the angle of the arm support is smaller than the preset angle when the ship loader does not carry out the loading operation.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and acquiring the data of the belt scale of the ship loader.
And judging whether the ship loader carries out loading operation or not according to the belt scale data.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and if the angle of the arm support meets the preset condition and receives the anti-collision signal transmitted by the wireless transmission module 500, controlling the alarm module to output an alarm signal. The preset conditions comprise that the angle of the arm support is larger than a preset angle, or the angle of the arm support is smaller than the preset angle when the ship loader does not carry out the loading operation.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides an anticollision institution, is applied to the throwing material shovel of shipment machine which characterized in that, anticollision institution includes:
the mounting piece is used for being connected with the throwing shovel;
the travel switch is mechanically connected with the mounting piece and used for outputting a first trigger signal in a trigger state;
one end of the anti-collision upright rod is mechanically connected with the travel switch and is used for enabling the travel switch to enter the trigger state when the anti-collision upright rod is collided and approaches to the throwing shovel;
the first switch is flexibly connected with the other end of the anti-collision vertical rod and used for outputting a second trigger signal when receiving force along the direction of the anti-collision vertical rod.
2. The crash mechanism of claim 1 wherein said first switch comprises a mercury tilt switch.
3. The utility model provides a material throwing shovel of shipment machine, material throwing shovel includes relative first lateral wall and the second lateral wall that sets up, its characterized in that, material throwing shovel still includes:
the first side wall and the second side wall are provided with a collision avoidance mechanism as claimed in claim 1 or 2, respectively;
the wireless transmission module is electrically connected with the travel switch and the first switch of the anti-collision mechanism arranged on the first side wall, and electrically connected with the travel switch and the first switch of the anti-collision mechanism arranged on the second side wall, and is used for outputting an anti-collision signal in a wireless signal mode when receiving the first trigger signal or the second trigger signal.
4. The throwing shovel of claim 3, further comprising a first tilt switch and a second tilt switch;
the first tilt switch is flexibly connected with the front edge of the throwing shovel and is used for outputting a third trigger signal when the first tilt switch tilts under the action of external force;
the second tilt switch is flexibly connected with the rear edge of the throwing shovel and is used for outputting a fourth trigger signal when the second tilt switch is tilted under the action of external force;
the wireless transmission module is electrically connected with the first tilt switch and the second tilt switch and used for outputting the anti-collision signal in a wireless signal mode when receiving the third trigger signal or the fourth trigger signal.
5. The casting shovel of claim 3, wherein the first and second tilt switches comprise mercury tilt switches.
6. A method of collision avoidance for a ship loader comprising a throwing shovel as claimed in any one of claims 3 to 5, the method comprising:
acquiring the angle of an arm support of the ship loader;
if the angle of the arm support meets a preset condition and the anti-collision signal transmitted by the wireless transmission module is received, controlling the ship loader to stop moving; the preset condition comprises that the angle of the arm support is larger than a preset angle, or the angle of the arm support is smaller than the preset angle when the ship loader does not carry out loading operation.
7. The collision avoidance method of claim 6, further comprising:
acquiring data of a belt scale of the ship loader;
and judging whether the ship loader carries out the loading operation or not according to the belt scale data.
8. An anti-collision system of a ship loader, characterized in that the ship loader comprises the material throwing shovel according to any one of claims 3 to 5, the anti-collision system comprises a controller, the controller is electrically connected with the wireless transmission module, the controller comprises a memory and a processor, the memory stores a computer program, and the processor implements the steps of the anti-collision method according to claim 6 or 7 when executing the computer program.
9. A collision protection device for a ship loader, characterized in that the ship loader comprises a material throwing shovel according to any one of claims 3 to 5, the collision protection device comprising:
the data acquisition module is used for acquiring the angle of the arm support of the ship loader;
the shutdown module is used for controlling the ship loader to stop moving if the angle of the arm support meets a preset condition and the collision avoidance signal transmitted by the wireless transmission module is received; the preset condition comprises that the angle of the arm support is larger than a preset angle, or the angle of the arm support is smaller than the preset angle when the ship loader does not carry out loading operation.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the collision avoidance method of claim 6 or 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110638259.9A CN113443461B (en) | 2021-06-08 | 2021-06-08 | Anti-collision mechanism, throwing shovel of ship loader, anti-collision method, system and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110638259.9A CN113443461B (en) | 2021-06-08 | 2021-06-08 | Anti-collision mechanism, throwing shovel of ship loader, anti-collision method, system and device |
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| CN113443461A true CN113443461A (en) | 2021-09-28 |
| CN113443461B CN113443461B (en) | 2022-05-24 |
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| BR8802035A (en) * | 1987-04-27 | 1988-11-29 | Techni Multidiscipline Service | MATERIALS LOADING AND UNLOADING APPLIANCE |
| DE19508325A1 (en) * | 1995-03-09 | 1996-09-12 | Pwh Anlagen & Systeme Gmbh | Ship unloading plant with anti-collision protection |
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| CN113443461B (en) | 2022-05-24 |
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